It was checked out by a mechanic ESP/BAS lights are on, he found no codes.

What is your question?

A friend of mine has a 2008 Dodge Grand Caravan and those dreadful lights are on (ABS/ESP/BAS) and when driving the brakes wants to engage. With this loud grinding noise and the truck almost coming to a stop. Note: late in the day it will not happen, but early in the morning just like clock work it will happen going straight and a lot when turning or when the road is wet. I was told it is a speed sensor and I disagree with that answer.