My name is ***** ***** I am a professional here at Just Answer. I noticed that your question had not received a response and thought I would see if you still need help with this.I apologize for the delay and I hope I can still assist you with this here.
Code P2082 indicates a fault with the drivers side oxygen sensor before the catalytic converter
Code P2068 indicates a fault is stored in the transmission control module/ecu
Code P20CC indicates a fault with a wheel speed signal
Code P2036 indicates a fault with no CAN message from the ESP control module
What needs to be done first here is to clear out these codes then operate the vehicle until the fault re occurs that you are experiencing here.Then once this is done the codes are re checked to see which codes come back to be diagnosed as in some cases one or more of these codes here may be one time fluke or old history codes that may not need diagnosed.
The wheel speed sensor signal and fault stored in transmission control unit are most likely related to the issue that is occuring and you may have a faulty wheel speed sensor.If you can use a scan tool to read the transmission computer for fault codes and see if any codes are set in the transmission computer this will help.
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