Gear Shifting problem
 

I have got 2002 vw Jetta 1.8T

ASR/ESP light comes on suddenly (together with check engine light) while driving. Then the car jerks violently whenever automatic gear shifting occurs. The ASR/ESP light goes off after turning off and restarting the engine and everything is fine. [But CEL goes off only after driving some miles]. Then the problem occurs again unexpectedly after driving some miles (may be 5 or 10 or 50 miles, as i said unexpectedly).

I found 01166 (ENGINE TORQUE SIGNAL) code in transmission while scanning with OBD-II.

Please, help.

Thanks in advance.