I have a 2007 Sonata, and recently the ESC light and check engine\nlight will come on at the same time, and at that point, the car enters\nwhat they call "limp mode". After 3 trips to the dealership, still\nno luck. They have replaced the gas pedal, but that does not fix the\nproblem. Any suggestions? An on-line mechanic suggested the TPS\nmight be the problem, but I’m not sure if that is related to what was\nalready replaced. I can’t drive the car any distance as this is very\ndangerous when it happens!