Why Check engine/Traction Control light to come on, and heat blows cold air?

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2006 Chevy Equinox 6 cylinder, the check engine light stays on. After starting my car it jerks very hard in Drive, Park and backing gears. After driving about 20 min the Traction control light comes on and after this light is on whenever I come to a complete stop and pull off again the car is moving very slowly with the engine roaring. After about 2 min the speed is okay but it still jerks about every 15 to 20 min or maybe 40 min. One shop told me my car has major electrical problems. I took it to Firestone they ran a diagnosis for the Traction control and told me there are some issues with the Transmission and I needed to take it to the dealership as they don't work on transmissions. The heater blows out cold air and does not get warm or hot, had a new thermostat put on, but still don't work, AC is good. The diagnosis codes from the Traction control are PO700, C0276 00, PO962 00, PO983 00. Please advise how much this cost. I'm Layoff and can't afford another car.