Next time you might check the tire pressure on both tires as these cars are really picky about differences between front to back and side to side rotational variations and what the computer reads off the speed sensor. I had tires put on and the guy put 32lbs in the r rear and 44 in the l rear and it set off the bas esp light and until I let the air out of the l side the problem persisted. I equalized the air and reset the bas/esp according to the procedure and all was good again.