Loss of power at highway speed is usually clogged fuel filter or clogged air filter. Checking fuel pressure won't tell you if the filter is clogging up. You can still have pressure, just no volume. Air filters can do the same, except it will usually die or stumble coming to stops. The abs and disable light won't affect the engine performance. Hopefully you have a bad wheel sensor that is also disabling the AWD. The sensor is around $100 the actuator for the AWD is over $300
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