Probably have to have the TPMS reset at the dealer. As for the ESP/Bas light try a search on BAS/ESP been an issue around here the past few weeks. I've been lucky mine reset both times its come on but it took a few hours before it did so. I think I also read here that tire pressure was an issue with the ESP/BAS light in some cases. I'd start with getting that reset and see where that leads you.
Pat