My car judders on acceleration and has vsc TCS and basically every light imaginable on the dash

 

Start by scanning the codes and see what comes up. But may sound like a bad alternator, or something in the electrical system. If you dont have access to a scanner grab a voltmeter and measure the battery with the engine off and with it running.

 

I don't that's the issue as the engine doesn't stall. Though it's certainly an electrical issue

 

My SC400 did the same thing when the alternator died. Wouldn't rule it out quite yet.