My car was sitting in the driveway, when the.

The first thing your going to have to do is have a full scan done with a professional scan tool that can read all the computers in your car. Write down the actual code numbers that is your starting point. You may also need that professional scan tool to diagnose the problem.

If I had it at my shop the first thing I would do is do a complete scan on all the computers. Computers control everything on that car including your factory alarm. Iam not trying to blow you off unfortunately the newer the car the newer the car the more computers and the more they control.I wish it wernt like that it would save me money for all the expensive scan tools I have to buy and the expensive software updates. Also would save me a lot of headaches trying to figure the problems out. Your going to have codes from that esp light on. The newer cars are getting less and less diyer friendly. It doesn't make sense to just start tearing things apart without checking to see if there is codes in the computers to lead US in right direction.