I did replace the battery and the brake lamp switch. One thing I noted after reconnecting the battery - the sequence of the BAS/ESP malfunction coming on was the same as the latest occurrence of the malfunction. One difference though, this time I had to reset the Malfunction Indicator by cycling the steering (as the Owners Manual states). I measured the battery voltage during the start cycle and it now stays above 10.5. So we will see.
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