If there are any codes they would be specific to the mfr. code scanner not that one. When I had abs, BAS/ESP lights on and spoiler up, I looked for continuity on all the wheel sensors, checked all the grounds. Checked CANB buss CANC buss all looked good, all modules were talking on the busses but till I had the codes read with the Mfr DRBIII scanner at a dealer could it get fixed. Bad BAC & wheel sensor.

The only symptom is the spoiler up @ 5mph? No lights, no other symptoms? Seems like the ABS BAS/ESP systems do a spot check just after you are underway but I thought that was at 15mph.