Pointing to an issue with the RCM (Restraints Control Module), though not sure why it'd make the car run rough.
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Normal Operation and Fault Conditions
The RCM measures vehicle yaw rate, lateral acceleration and longitudinal acceleration, then sends the information to the ABS module over a private HS-CAN . This private HS-CAN is used only for communication between the RCM and the ABS module. The yaw rate sensor, lateral and longitudinal accelerometers are contained in the RCM .
A circuit fault such as a short or an open disrupts communication between the modules and the ABS module sets a DTC. An incorrectly installed RCM sends invalid information to the ABS module, which sets a DTC.
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Probably just an electrical connector that needs cleaning ...