If you are having recurring and/or intermittent issues with the ABS/ESP, odds are that you have a tone ring/wheel speed sensor/wheels speed sensor cable that is working intermittently. I know....it's a PITA - but the up side is that if you figure out which of the wheels is causing the issue (front wheels are far more likely to be the culprit), a new unit bearing and 90 minutes of wrenching will fix it for you.