I am getting the D1, D2, and ESP flashing , I talked to the dealer where I bought my 01 new, this is the 1st issues with this since new and I have called to dealers and not much help other then bring it in and we will check it out! Not at $94.00 an hour. I can do the ad the parts to it tell the problem goes away a lot cheaper. I have replaced the ECM, Shift motor, and the Angle sensor like the dealer said that Honda said to do. Got everything working the way it was suppose to. Took it for a test drive and when I got to 11mph the problem came back, slow and sputters in Rev. Did the OHM test on the Angle sen. and tested the shift motor off the trans plugged into the harness and it all worked and checked out good like the book said. Can anyone help?