98 Mazda Millenia S TCS Problem?

My car has been doing this for quite some time. I't basically sputters and doesnt let me accelerate when the "TCS OFF" light comes on, followed by the "TCS". I've been told I need to change a spark plug, and I've also been told it can be the "sensor" going out. Other than that, the car runs perfect, doesn't overheat, ac runs cold, no problem with anything else.

PLEASE HELP! and thank you :D
Whoa! forgot to mention the "check engine" light is on, oh and i've taken to autozone and have gotten the random misfire code. sorry for forgetting that lol.
 
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