2002 camry suddenly staring shaking at ideling, will stall if gas pedal is pressed

Hi I apologize in advance if this is not proper forum to ask question. I will
describe the problem just in case someone can shed some light.
I have 2002 Camry 4 cylinders and has 175,000 miles. I was driving on the
freeway and suddenly I felt a jerky motion and check engine light came on.
When I stopped at traffic light the car began to vibrate and driving at low
speeds it got me home. Admittedly, I had put lot of hard miles on the car in
past 6 months and I was lazy in getting oil changed in time. It might have
been 7000 miles since oil chg. I took the car to local oil change place they
did not mention anything about engine but they said my transmission oil was
dark and burnt. They said I should flush and replace. I agreed and tech said
he had to do second flush as oil was still dark. After second flush, he said
its little bit better. I was hoping this would solve my problem but
unfortunately no. After oil chg and transmission fluid flush and change, Car
was still vibrating. When I drove at slow speed it was driving but as soon as I
tried to accelerate the car lost power. Check engine light has been on since
the incident at freeway, but now check oil light and battery sign comes on as
soon as you try to give little bit of gas. Subsequently, the power steering
looses power. I had to park the car and restart, as long as I drove very
slowly it would drive. However,  if I tried to accelerate where the rpm went
from one to next level car would loose power with warning lights on, power
steering loss and car would stall.
I had recently replaced fuel pump, filter and any repair which was
suggested to me. Admittedly, I have not replaced timing chain or belt (not
sure if it matters). I would appreciate any help and assistance any one can
provide?