Similar issue back in July. hit a bump or RR Crossing at 50mph or better. Traction control light and braking, sluggish operation. Stop, turn off the key, light would go away and drove normally.
Took it to the dealer, they said there was nothing in the PTM history that ESC had been activated. They did reset the module engine performance was better than ever until the next day when it happened again.
Drove straight to the dealer with the light still on, did not shut it off. Got the Svc. Manager to come out witness the ESC light. He took it straight back to a bay. They replaced the wheel sensors, that wasn't it. Then the PCM (power train control module). Finally after a week they installed another PCM and the Powertrain wiring harness. Problem was a shorted or broken wire in the harness..
Oddly, when I first took it in I told the SVC Writer it was acting like it had a shorted wire when I hit bumps and the ESC would come on.