2007 Nissan xterra VDC light on constant and slip light comes on and then will go off no ABS codes or any other codes can this put truck in limp mode What could it be? Thanks

Question edited for clarity.
Question moved to model category.

Needing an alignment wouldn't cause that. The lights may be caused by wheel sensors not being connected back up properly. Or this, battery disconnect.

https://www.nissanmurano.org/threads/vdc-off-slip-abs-lights-on-after-replacing-battery.224511/

Running rough may be due to them disconnecting the battery, and there is a relearning process to go through. Take it back to them.

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Have it check for trouble codes first...also need to check for fuel and spark to see where the problem is at.

NO, its NOT SAFE TO DRIVE. Your car may loose power in the middle of the intersection and then what? VDC and Slip light may be related to ABS system, please have it check.

I know this VDC is commonly due to a steering angle sensor.
You need to use an ABS scan tool and check for the following codes.
C1143 (steering angle sensor circuit)
C1144 (steering angle sensor signal)
C1156 (steering angle sensor com cir)
C1163 (steering angle sensor safe)

I think a trip to the nissan dealer may be needed. The Slip and VDC sytem is tied into the anti-lock brake system. Could be as simple as a vacuum leak or a bad check valve at the brake booster, or the ABS system could be malfunctioning.

OBD2Guide com Technical service for OBD2 auto scan tools

check to see if it will go into 4x4. if not, than yo have issue with abs system or one of the hubs in the front. if front hub fails, which the abs sensor is build or attached to it when you buy a new one, than your 4x4 will not engage. sounds like you have abs issue. also check your brake fluid level. make sure its not low.if so , add a bit.

Drives with not the same power cause the ECM goes into limp mode, you need to have the ECM scanned for codes and problem rectified.

VDC/ OFF light is still ON only ? or also SLIP + VDC/OFF ?

if VDC/OFF only u must check ur brake fluid status if both VDC and SLIP u still have problems with ur ABS module and steering wheel

the vdc off can result because the steering input sensor needs to be re calibrated with the nissan consult2 .
the vehicle dynamic control uses input from the abs,vehicle speed sensor,air bag sensor,yaw sensor and steering angle input sensor.

The heavy draw on the charging system may have put it in a low voltage condition which will trigger results like that. Double check your battery connections and you may want to have the battery tested. It might be wearing out. Good luck. Please rate me so I know if I helped.Thanks.