we had the car maybe a year, it was 2 years old when the problem started. the ESP/ABS light would randomly come on while driving. mostly when turning. But once it came on it would stay on. at the same time when the light comes on, it shuts off the traction control. I went to the dealer and they said i was about 6 months out side of the warranty and it would cost me $90 just to put the car on the diagnostic machine! I even checked the condition of the sensor wires and cant see any unusual wear. this becomes a real problem in the winter when it is slippery out and the traction control will not work.