I’ve had my 2010 Xterra for a couple years now and absolutely love it. But a couple weeks ago the abs vdc and slip lights all came on. The first thing I did was check the break pads and fluid, the fluid was a little low so I topped it off. But it didn’t have any effect on the lights. Then it started to randomly go into limited slip mode where the slip light flashes and it cuts power to the wheels when accelerating from a stop. If I just wait a minute it comes out of it. Also on occasion I feel chattering in the breaks like the abs is activating. At first the lights were all intermittent and only came on now and then but now they are on all the time, doesn’t matter if I turn it off and back on they remain on. I know there are some similar posts on here but I didn’t see any that had both problems. Any help would be awesome, would really like to avoid bringing it to the shop. Thank you.