Well, there may be more than one thing going on too. A bad brake switch could give the ABS/ESP problem, and I believe prevent the shift out of park.
How many miles? A worn shifter linkage bushing could (theoretically) cause enough play to prevent turning the key due to the shift interlock.
Also don't forget to check the ground wire connection at the nut behind the little access panel in the rear passenger footwell. Mine was loose when I got the car and it cause some intermittent issues.
Just some ideas to rule out teh easy things first.

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