Toyota - Camry :: 2002 - Jerky Motion When Driving On Freeway And Check Engine Light Came On

I have 2002 camry 4 cylinders and has 175,000 miles. I was driving on the freeway and suddenly I felt a jerky motion and check engine light came on. When I stopped at light the car began to vibrate and when started driving at low speeds it got me home. Admittedly I had put lot of hard miles on the car in past 6 months and I was lazy in getting oil changed in time. It might have been 7000 miles since oil chg. I took the car to local oil change place they did not mention anything about engine but they said my transmission oil was dark and burnt. They said I should flush and replace. I agreed and tech said he had to do second flush as oil was still dark. After second flush, he said its little bit better.

I was hoping this would solve my problem but unfortunately no. Car was still vibrating and when i drove at slow speed it was driving but as soon as I tried to accelerate the car lost power. Check engine light has been on since the incident at freeway, but now check oil light and battery sign came on. The power steering lost power. I had to park the car and restarted, as long as I drove very slowly it would drive but if I tried to accelerate where the rpm went from 1 or to next level car would loose power with warning lights on. I had recently replaced fuel pump, filter and any repair which was suggested to me. Admittedly I have not done timing chain or belt.