If you know the shop well, ask them to do you a favor.

Have them bleed the rear brakes only first, then have them check the pedal before moving to the front. I am curious because my soft pedal always came from air in the rear system.

Of course before they are finished you will want the entire system flushed with new fluid.

Does the ESP light come one once the pedal is to the floor, or when you push it just enough to activate the brake switch?

James