Help -Intermittent warning lights

[NMi]

Hi all, my Audi A4 drives normally but every so often it judders and pops up with ESC and ABS fault, Parking brake fault. When I turn the engine off and on again, usually the lights and warnings disappear. On two occasions, it did all the above and also said gearbox malfunction and wouldn't change out of first gear (it's an Auto gearbox and it wouldn't even let me change with the paddles) anyone had anything similar or know what the issue may be?? 

Diagnostic came back with nothing🙄

[Magnet]

Have you had the battery efficiency checked Nu? 
Kind regards,

Gareth. 

[NMi]

I'll try the efficiency check first and let you know. Thanks for the advice!