So im in the process of getting my ABS module replaced, witing for the part to come into the dealer.
They seem semi-confindent this is my problem, but here are my symptoms:
i was cruising on cruise control on the highway when the ABS, BAS ESP, and Lamp Out Indicator all started flashing. My speedometer started jumping from 70 to 40 back and forth. in unison with the ABS light blinking. and i could hear a relay or something clicking near the headlight switch area. The light out indicator was somehow tied to my foglights being on, and when i switched them on and off it was affecting the speedo jumping and abs light flashing. the first dealer reset all the codes, and all the lights were out. then i started driving and they came back on down the road. they seem to randomly come on at startup of the car. sometimes jsut the BAS ESP light is on by itself.

then the new symptom: the first time i stop the car i hear twice a 1 sec grinding noise come from under the car like trying to start a running car.