Can ABS problems push car into limp mode ?

Having a problem ABS and Brake light come
on (even though parking brake is released)
and the car doesn’t want to shift out of first or
second gear. Have been told this is limp
mode. The weird thing is that it comes and
goes, it will be doing this and then it will stop
and start driving just like the day we bought it.  
Have had a couple of different scanners
hooked up to it but they never show much
because whatever is happening doesn’t
trigger the check engine light to come on.
Have already taken a couple of shots in the
dark and replaced the 2 speed sensors on the
trans and a right rear wheel sensor but it’s still
doing the Jekyll and Hyde routine. Wondering
if you have any suggestions on how to narrow
down what’s going on. Also when it’s doing
this the speedometer is bouncing all crazy,
when it stops the everything works normal
including the speedometer.