I have a 2002 3.5 Altima with 150k miles and a 2008 3.5 Quest with 78k miles. I had this problem on the Altima and took it to a Nissan Dealership for diagnosis. They diagnosed the rear wheel ABS sensors as causing the problem. So, I took the car home and replaced the rear wheel hub/bearing assemblies myself (note that the hub/bearing assembly contains the ABS sensor). This did not solve the problem. I took it back to Nissan and had them drive the car with the OBDII reader connected. Low and behold, the root cause ended up being the alternator. Instead of failing like most alternators normally do, producing low voltage, my alternator had shorted the protection diodes and was periodically spiking the voltage to the computer causing the TCS/ABS system to freak out. When this would happen, the ABS, TCS and slip lights would flash on the dash and the car would loose total engine power. After the alternator was replaced, it has not happened since. I hope that is helpful in some way.