Hello, I am having an issue figuring this one out. I started my car this morning and drove it a few hundred feet when ABS/BAS ESP lights came up on my dash. I pulled over and put it in park. Here are some details:

1. BAS ESP / ABS lights appear when the car is running the brake is depressed (while in park)
2. The brake pedal felt normal and stopped the car fine when the lights first came on.
3. I was unable to shift into drive from park.
4. I checked my car with an OBD2 scanner and it didnt show any errors.
5. I checked my battery with a multimeter and it showed 10-11 volts.
6. Pressing the "ESP OFF" button disables traction control and allows the car to be shifted into drive.
7. I then drove the car back home. My brakes worked normally, and the car drove as expected.

Does anyone have any good ideas on how to narrow this down further? Given that it goes away when I turn off traction control, I would believe it to be a fuse/sensor/electrical, but googling this issue sent me down a not so useful rabbit hole.