Carol. code C 1130 is a fault with the rear right speed sensor; check the voltage at the chassis connector going to the right rear speed sensor. Your mechanic can separate the connector from the speed sensor and the wiring running forward to the CAB right there in the rear wheel well. Check to see if there is 12 volts going to the sensor. If the 12v volts is there then you have a problem with that speed sensor. when you reconnect make sure it is fully seated. there are two tension spots and the second is fully seated.
The codes C1174, C1172 and C1035 all relate to the steering angle sensor.. It is located on/in the steering column behind the center of the steering wheel. That could cause the problems lighting the ABS/ ESP warning lights. You said turning the steering wheel use to reset the light, but it doesn't any more thus steering angle sensor problem.