Picasso 01 twitching While driving

[Xsara picasso 01]

Hi. I have annoing problem. Myös car has been doing twitching White driving now few years and this Spring its start to be quite annoing and worse. Its also plinks km/h Light at same time and sometimes headlights also. Sparkblugs, throttle senros i changed, lambda (oxygen sensors are working), nozzles wil be cleanded up soon. So what next? What can causes this? :/