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Q: The telltale light is on and yellow. Also the D.SC., DTC & DBC is on and yellow is it safe to drive it?

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Those lights came on and there is a whistle as if the hand brake is on while driving and they are permanently on is it safe to drive it at all?
My car has an automatic transmission.

It sounds like a lot of different things are going on here. If you feel like the hand brake is on and the brakes are grabbing it with all the lights on, then I would say it is not safe to drive it until you get the vehicle tested. Have a mechanic come to you in order to diagnose these warnings lights and advise you on a repair.

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