My 2004 Accord V6 Automatic Coupe with 230k km /142k miles has a tendency to throw the hazard / TCS / engine warning lamps after a long drive (drives beyond 500km / 310 miles). The car then goes into a dangerous limp-mode which cuts power and causes the vehicle to act jerky.

I replaced the ABS wheel sensors but the issue persists.

I am thinking it is the ABS computer / module / hydraulic unit.

Has anyone replaced this unit before? How difficult is the replacement? Any tips or guides? Any re-programmed required by the dealership?