I have a fairly new to me 2003 touring, all stock. Past 2 mornings had the same issue, on my way to work i would get a bad stumble (couple seconds) then the service engine, TCS off and SLIP lights would turn on. So I immediately turn off the main road and prepare for some type of failure... but it drives fine, no mechanical noise or engine power loss. After work yesterday I figured it would do it again on the way home but it didn't.. Morning dew shorting something out?? Tonight I'll put the scanner on it and check the codes. I did do some searching and could possibly be a speed or crank sensor. One person mentioned they replaced the coilpacks and that solved the problem... then you got another one who asked if wheels spacers would cause that... lol

 

First step is to pull the codes. Do that and report back. My guess is cam/crank sensors. If so, replace with OEM and not aftermarket/knock-off trash.