Hello, everyone. It has been a long time but I still have my XF! My BAS/ESP light just turned on, as well as the car with skid marks symbol, on my way home tonight. I tried following this thread for advice but got totally lost. Is it bad brakes, sensors, fuses? Except for my 2 (not my fault) accidents, my car has been worry-free. It may be time to visit the dealer..