Hello all,
Regarding my 04 XF w/ 36K miles, the BAS ESP light has come on a couple of times after driving the car for 20 minutes or a half hour. Turn the engine off, restart, the light stays off for a while but comes back on after another 20-30 minutes then stays on steadily.

Today the local Chrysler dealer said they don't have the older computer for the car since this dealer has only had the Chrysler franchise for 2 years. So the next closest dealer is 70 miles away and I'll call them tomorrow.

So does anyone have an idea of what could be wrong and likely cost to fix? I've never had a car with this particular issue before.

Also, I'm assuming the car is safe to drive for now, since the brake pedal is fine, and I think the bas esp systems come into play is "extreme" driving conditions such as skidding/loss of control and /or emergency stopping. I exert great effort to avoid both those situations.

Any help is appreciated, thanks.