So it turns out my ABS fault (wheel speed sensor) was causing my TCM ("implausible speed") and ECM fault (P0702).
I replaced both rear ABS sensors with new parts from RockAuto part numbers LR: 56041509AA, RR: 56041308AA.
The new sensors made the ABS error which had the trickle down effect of clearing the TCM and ECM fault, so now the car is no longer going into limp mode and is changing and driving smoothly.
More detail in this thread, as I thought the TCM fault was separate to the ABS fault:
http://www.ausjeepoffroad.com/forum/...d.php?t=158327