2006 Chevrolet Equinox Track CONTROL

I start car put in reverse and t/c light comes on.I put in drive but i push gas peddle and car goes very slow but I can turn car off and restart put in drive the car will move like it should but as it builds speed it will give a clunking and jerk and some timed it is ok unless i stop and need to back up t/c light will come on again and i will need to restart car and put in drive again.it is getting worse for some times know when i come up to stop sign the light will come on.I can also put car in lower gear and it will move ok and shift it to next rang till i am in drive.
I was told it was the rear hubs so they have been replaced did not help..On front hub found wiring on both sides that that was bare from rubbing on front axle,I repaired them and run oms test showed to be good.Took to the dealership to run test they said has code that track control sensor and it was in trans need to take trans and tare down cause it has internal problem that did not sounds good coming from a certified chevrolet dealer i picked up car,so i still have problem.what could be wrong and how to fix it.