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You may have an internal mechanical failure inside the transmission but since the gearbox fault light is on there shold be codes stored in the transmission control module. You will need a compatible scan tool to read these codes. You also have the ABS/ASC light on in addition to the gearbox fault so this may or may not be related. You will need to find a shop that can read all these codes. Once you have the codes let me know so I can assist you with the diagnosis and repair.