If it is the sensors should I go ahead and replace all of them or just one at a time then check the light to see if still on?

I have read and seen videos on you tube where guys make switches to cut off the ESP and BAS. In the video he gets the same light I have after he throws the 2 switches.
He does this for racing. I like the way the car stops now and never liked the anti lock brakes much for sudden low speed stops because they will let up brake pressure and let you hit someones bumper. In addition I have always turned off the ESP in my Challenger as it seems I have more power and can do burn outs.
So I want to buy the sensors in case I want to change them out but is there any harm leaving it like it is?