I realize this is an old thread, but in case someone else comes across this looking for solutions I wanted to offer my experience. I have a 2008 R/T and recently the ABS, ESP-BAS, TRAC CONTROL lights came on, but the car was running fine with no issue for like 2 months, finally I took it to get the brakes replaced and their computer identified that the front ABS sensors were causing my dash lights. Tech replaced both sensors and all of the lights went away. Everything was running great for about a month then suddenly all three lights started coming on again. Solid at first, and after a day or so they would go away. Then while driving they would all come back on, and off again while still driving. It became intermitted. Then a week ago I went to the store and everything was fine, no lights no issues.
But when I got back in the car, started it up and all three lights came back on, and bam, LIMP MODE. RPMs stuck at 3000, and I couldn't go over 20 MPH. I pulled over, shut the engine off for a moment, started it back up and same issue. Lights stayed on, car ran in limp. I shut it down a second time waited a few moments longer, started it up, lights still on, but the car drove normally again. Made it back home and called my local mechanic thinking I was having transmission issues. I drove it to him the next day with no issues and the lights were not on the whole drive there (about 8 mi away)
After a day diagnosing it, I had a CEL which identified codes for speed sensors. He checked and they were all okay. However he said that they connected into the same compartment that my battery is located at, and the battery wasn't properly strapped down and somehow had shifted and was putting pressure on the connector causing intermitted problems. He reattached the cable and then strapped the battery down securely. He felt pretty confident that fixed my issue.
So if you're having these kind of issues be aware that there is a cable for the speed sensors connecting up against the back side where the battery compartment is. Check for connection issues.