1999 Chevy Venture Traction Control

Transmission problem
1999 Chevy Venture 6 cyl Wheel Drive Type unknown Automatic 125000 miles

I have a 1999 chevy venture. The ABS light is on and a computer diagnostic showed that it is because we have a weak abs motor and need to have it replaced. The van has a traction control system, when coming from a stop, sometimes the tcs light will come on and the van will lurch and stutter for a few seconds before it will go anywhere, then the light goes out and the van moves. This happens atleast twice a week, more often when the engine is cold, but also when it's warm. The transmission also sllips occasionally. We took it to the dealer we bought it from and they could not find the problem, so we took it to midas and they couldn't find the problem either, said the only code they found was the weak abs motor. Could they be related? Any clues on what is wrong with the van? Thank you for your time.