i put my 07 rx8 in reverse, it lugs down and I get DSC and slip lights, can stall

Usually Auto Zone will read engine check light codes for free. That will give you an idea of what is going on. Hope this helps.

I'll try them, I have a scanner but it's a cheap one. Might not go deep enough. I'm thinking the electric steering is messing with it. Had battery checked today, replaced alternator yesterday, still there.

My Pathfinder had same issue, turned out to be the Crankshaft Angle Sensor, which on my pathfinder is located on the bell housing of the transmission, an easy fix. Hope yours is too.

Although with my Nissan it happened only at high speed in forward.