Have you tried this:

Synchronizing ESP


If the power supply was interrupted (battery disconnected
or discharged), the BAS/ESP malfunction indicator
light may be illuminated with the engine running. To
re-synchronize the ESP, and cancel the malfunction indicator
light, the steering angle sensor will need to be
recalibrated.
1. Turn the ignition switch to the ON/RUN position.
2. Rotate the steering wheel to the center position.
3. Rotate the steering wheel completely to the left, and
then rotate the steering wheel completely to the right.
4. Bring the steering wheel back to the center position.
5. The BAS/ESP malfunction indicator light will go out.
If the BAS/ESP malfunction indicator light is still illuminated,
the vehicle should be serviced at an authorized
dealer.