2007 Dodge Magnum ABS, ESP, BAS, Traction control, check en

Yesterday I was driving down the interstate at approx 70 mph when I noticed the vehicle driving in a "jerky" manner like it was trying to downshift. Shortly after (less than 1 or 2 miles) my my dash lit up like the 4th of July. My "ESP BAS", "ABS", and "traction control" lights all illuminated. Once these lights came on the vehicle becan to operate normally except that I could feel the rear of the vehicle sway a bit more and it just didn't feel as stable. Several miles later the "check engine" light illuminated. I went to the closest autozone to have the fault read and it turned out being a P0730 code for "incorrect gear ratio detected". From what I've read online it seems to be that the issue is with the TCM possibly. Does anyone have any clue if this sounds correct and if so does anyone have a clue as to how much the repair is going to cost? Thank you for any help provided.