Happy Holidays everyone!

Yesterday abs and asc light remain on. Looked in the bently manual but no real diagnostic information there and I dont have access to a code reader for the abs system. What would trigger just these two warnings. My transmission also has a hard time getting out of second gear. I can manually drive in 3rd...move back to drive and that seems to fix it. I think there are 4 sensors in the gar.. 2 right front and 2 left rear but anyway to pinpoint which one without diagnostic tools?

97 528I 230k- almost everything is still original on the car.. I have been lucky!

Thanks in advance,