The only time my BAS/ESP light came on is when I "fried the supercharger internals". The dealer really could not explain to me in detail as of why or how.

During this time I had no working supercharger and it was in limp mode.

Does this light come on during multiple occasions? It must because I read others including you mentioning this light come on, but with similar/different symptoms.

See what the dealer has to say about it.