I too have had the bas/esp warning lights go on and off periodically. They would turn on several times a week and would not shut off until I had restarted the engine. Finally took it to the shop today. I was told a bulletin had been distributed to the dealer network about this problem. I didn't get a clear answer of what was done but I will try to describe.
Sounds like a bad wire, harness, or connector somewhere within the system. My work order lists the following:
Clamp, Cable connector, electrical cable, and adhesive tape as the replacement parts. Let's hope
this solves the problem ......

(All of the parts have non-model specific part numbers
except for the electrical cable which is:
203-540-47-33)