2008 Grand cherokee WK/WH need urgent help

Hey guys hope you all are doing good

i have GC 2008 middle east, mileage is 150000 miles. shift **** stuck in park
when i start the car for the first time in the day there is no issue, when i run for some time then ESP/BAS light is on countinuesly, traction control switches off and the display shows servise 4WD system.
having a cod P0571 which is for break switch and cruise control both changed and cleared the code but the problem still exists.
along with this having bunch of codes.
U1408
C107C
B105D
Changed all the related fuses