My ESC light and DBC lights will come on while I am just driving normally down the road, and then when I ned to put my car in park it will not shift. I have to cut the car off, wait a few seconds, and then crank car and play with the gear shift and then it usually goes on into park. It's not the gear shift that is the problem, because IF the lights don't come on, there is no problem with shifting into park. I have had the tire sensor light to stay on too.