I just fear replacing the crank/camshaft sensors and that not be it, then the ECU and still have problems $2000+ dollars later.

I had the same issues, then I found a thread were people were suggesting sending the ECU to SIA, a car ECU repair shop who specializes in all different types of vehicles, to fix the transmission problems. I mailed the ECU along with $135 to them and got my ECU back in a weeks time. I reinstalled the ECU and started the car and to my surprise all the dashboard lights, VSC lights\battery\ect, didn't come on when I cranked up the car. I haven't driven it yet because I need to get registration updated, but I'm so excited.

PS
Separately I have replaced the torque converter, all solenoids, and working parts inside the transmission which usual wear over time.