My esp light is on along with the brake light and abs light

its a sensor on one of your wheels most likely---i change that in a way--since i seen you had no power steering--low on fluids?--newer cars all run on same unit these days and have tons of sensors

ABS and BAS lights on 1999 through 2004 or later is usually caused by a faulty brake light switch. It's the one activated by the brake b pedal shaft under the drivers side dash. Newer CLS I'm not sure of.