2008 Buick Enclave cruise control problems

If after within approximately 2-4 seconds after dropping my 2008 buick enclave into passing gear I need to perform an emergency stop, the vehicle continues to try to accelerate. It's as if the accelerator and brake are depressed at the same time. I took it to the dealer and they were able to experience the issue but when they checked with GM tech support the dealer was told a 2 or 3 second delay was normal and within specifications.

I started from park and shifted to drive. As soon as I gently stepped on the gas to accelerate there was a jolt and loud noise. It shifted rough basically. The check engine light came on immediately. I stopped and looked under the car and hood for any signs of damage or leaking fluid and found none. I then decided to stop at the first auto part store I found to get the code read for the warning light. The codes read p0717, p0716, p0700, p0756.