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I own a 2005 Chrysler 300, 3.5L V6, with 299k miles on it. I live in Kansas so we have had quite a bit of snow, ice, and pretty cold temperatures lately. The check engine light usually stays on and the oil pressure occasionally flashes and dings during the winter. When I bought the car about 3 years ago I was told that that is fairly normal and I have had zero issues with the car until now so I never worried about it. Starting today I drove it home from work this morning and then after about two hours I drove to the grocery store to grab groceries, I parked, grabbed my phone to look at before I turned the car off and then it slowly started to lower in idle until it died. I currently have what I believe to be an engine rattle and assumed the mounts were becoming loose but haven't had the time or money to take it somewhere to diagnose and fix. I originally bought the car as a project car to work on and have fun with but have made it my daily driver for the past six months due to my former daily driver having a blown engine. I was able to drive the car home but every time I slowed down and the RPM's would get anywhere below 1500rpm it would start to die. When the current issue of it not wanting to idle and then die started today the the ESP BAS light turned on along with the check engine light actually starting to flash and not just be lit up. I'm not familiar with the ESP BAS light but from what I have read so far it seems related to electrical, steering, and/or wiring components (but could be completely wrong obviously). I'm hoping to get some kind of direction or advise on how to pursue this issue. If I'm lucky it's something I can fix, if not I guess it sits and I share my old lady's car. This has been my favorite car to drive an own and really hope it's a realistic repair. Thanks for any and help/advise/direction that can help me out.

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Update: I was told I could use my key to find the codes that my car is potentially throwing out. It showed a P0157 and P0158 code and from what I'm reading relates to O2 sensors and possibly explains my check engine light. The third and final code it showed was a P0339 code and is what I'm assuming is related to the main issue I'm having at the moment. So that P0339 code is I guess what I need to figure out about.