Re: BAS ESP light stayes on.
So your post encouraged me to yank the RCM from my car and get my head right on what fuse on teh RCM does what. I figured that out and realzed my ECR output pin was fractured, so I resoldered much of the contacts on the board and put it back in.
I also yanked my Fuse 5 to observe how I could create your symptoms. I got exactly what you had; all those lights, no speedometer and odometers froze.
So today, I took the car on it's first ride of 2021. I went around town to get oil and filter so I can do my once-a-year oil change. I got one mile from the house and lights came on and speedo/odometer all failed. I either didn't set the fuse back in all the way, or the relay happened to fail or....?
Once i get the oil changed, I'll tackle the odd problem. I guess my car has sympathy for yours.