I think I have a loose ground because I sometimes have to rock the van to get it started. I keep getting codes for the different modules loosing communication. I have checked some grounds but I do not know where all the grounds are

 

Have you cleaned and checked tightness of battery terminal ends? And then follow the ground cables from battery to motor and BODY end points. How old is the battery? may want to have it load tested to find out if it has a dying cell that could cause similar problems.

 

How old is your battery?

 

Have you checked tightness of battery terminal ends?.