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Q: Car switches off on 2004 Nissan Quest

My 2004 Quest has been driven for about 80200 miles .. Recently I started experiencing a very serious issue, the car just switches off in the middle of the road and the "SLIP" and "TCS OFF" lights light up. I have to put the gear to P and then turn the ignition to off then again start the car. What might be the problem and what are the possible solutions?
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It sounds like an engine sensor is going out, the best thing to do is to check the trouble codes. Do you have a Check Engine Light ever coming on?
http://repairpal.com/check-engine-light

(the ABS/SLIP lights will come on whenever the engine dies)
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