100% agree on the battery the car will act very wonky even at a tad under voltage. As far as the doors not locking in the center console or by the fob check the obvious first. Check that there's TWO BATTERYS installed in the fob and press the unlock or lock key in a dark space multiple times youll see a small IR red light coming from behind the plastic. If the key fob is in order next I would remove the rear trunk paneling and check your central locking pump. These are known to fail from sitting in water mine was horribly corroded and missing a pin. I had to cut out a harness from a junkyard card (NeedsWings) also sells the harness. As far as the BAS/ESP mine was due to bad YAW sensor in the center console you can pick one up used fairly cheap, but if you pedal is squishy I would look over and maintenance the break system, when my pedal was squishy my master cylinder and break booster was shot.