I had the same problem last year. The ASR motors will need to be replaced ($ 1,800 Parts & Labor).
You should be experiencing a decrease in engine power while driving, the transmission may behave erratic, and sometimes the car may die when you come to a complete stop, and you will need to restart. When the ASR system is defective the car is programmed to drive at only ¾ of the engine power (Limp Home Mode). It’s designed to allow you to make home.
You should not drive the car if the system is malfunctioning; it puts a strain on the engine and transmission.
Look at the connectors under the footbrake pedal, it's
possible that these connectors are not very clean, it should be cleaned and
if they are in very bad condition they will have to be changed.
Has soon.