I haven't had any trouble with my car until recently The ESC light comes on and my car is hard to steer and the ESC affects my brakes . I panic when this happens because the car slows down and people are blowing their horns at me and all other things you can imagine. I am scared I will hurt myself or someone else when this happens. I realize I am past the warranty stage but I need to know if I have to pay thousands of dollars for this problem. I have taken my car to the dealership. They say it is the sensor for the angler, whatever that means. So, I really would like some advice.