Mod ♥ 450/451/453 + Motos
Join Date: Sep 2008
Location: IL-WI Border
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So first thing I'd do is clear the codes and see what comes back. It does take some engine cycles for codes to go away on their own. Any old scanner should be able to clear the codes. Do it with ignition on and engine off.
If you can push the car in Neutral, I would assume your brakes are not locked up. The ABS and ESP fault may be reluctor rings. Car is high mileage, lives in Michigan, and ten years old, good chance at least one of them is just a pile of rust.
If you see D or R when you put it in gear, but all the car does is buck, it may be worth it to remove the clutch actuator and give it a good cleaning and lubing.