TCU weird problem

Hi

recently i experienced really weird problem:
I was driving on motorway with cruise control at 60 mph for about 40 mins and then my speedo went crazy like up to 180 and then down to 0, and it looked like my transmition got burnt completely. I stopped turned the engine off, turned it on and tried to put on "D" but it started to sound really really bad same with 3,2,1 and R. ok i waited for a while thinking what to do, then disconnected the battery for 10 mins, then connected , turned engine on, put on "man" put on drive and it was sweet as...
ok drove 300 meters to a petrol station, waited there for a while, then was testing the car and it was sweet as...even on drive without "man".
and its sweet since then. But i already had such a problem before 5 months ago....but it was not that bad as now.
So anyone got any clue what happened? And in addition when i drove that 300m i had check engine and 4ws lights coming on. check engine showed code 32 - oxygen sensor, the problem i had before, and 4ws showed weird code 2 which does not exist :s
checked TCU and it did not show any codes at all.

In addition today i started to get bad shifts form 2nd to 3rd gear. like if i accelerate slowly (revs around 2000rpms) then before to switch on 3rd , revs jump to 3000rpms and then it shifts. weird
if accelerate 2300rpms upwards everything is sweet as...


so any ideas bout these all?? pls