I have codes c0561, p0172, p0152

Question

I had the vehicle scanned at a dealership and they replaced the o2 sensors, also the battery guage is going down and then coming back up to 14 not sure if this is related to the codes that are coming up. I then picked up my vehicle and drove approximately 200kms down the highway, went to slow down and service stabiltrack, service traction control light flashed and then went off, engine light came back on. When the service stabilitrak, service traction control light flashes, when i go to accelerate it make a noise when it shifts from first to second. Had it scanned again and the same codes are back on c0561, p0172, p0152.