The most common cause of the warning lights coming on is debris on the magnetic ring on the wheel speed sensor.
SOURCE: How to Turn off Service Traction Control and ESC messages
I had this problem with my 2007 HHR. I drove away with the service engine and the service traction light on. The car was stuttering through the gears. I took it back and they checked it. They disconnect some wires while they change the oil and one was loose. The service engine turned off but the service traction stayed on. We disconnected the battery for 3 minutes and it fixed the problem. Some of those other guys spent up to 300 dollars to fix the problem. Hope it works out for you.
SOURCE: 2008 saturn aura xe service esc comes on
My first suggestion to try for this car is to disconnect the battery, take and pull the access panel on the fuse box on the passenger side of the vehicle. Buy a pack of dilectric grease at autozone or another part store the small packets (usualy 1.27 or something) then unbolt the ground wires which are located in the fuse access towards front put grease on it and tighten down bolts again. Making sure they go completly flush on my car there was a burr in the middle of the threads and this fixed my issues. I was having random service esc, and airbag light on and various other gremlins at diffreent times. It Fixed mine it's worth a try.
The problem is most likely the throttle control/position sensor, if you really have a P2101. The computer cannot control the throttle, so it has disabled the transmission for safety reasons.
SOURCE: Can't find traction control off button on my 09 Saturn Aura where can i find it
If there is no control/override switch then it is full time and can't be disabled.
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