If it helps, I disconnected the negative terminal on my battery yesterday to change out the camshaft sensor. I left the headlight switch in the cab on to drain any stray voltage.

On startup, after putting everything back together, had a BAS/ESP light on for the first time, as well as the tire pressure indicator (which has been on since i got the car in april). BAS/ESP went away as I was going around the block and I haven't seen it since.