PLEASE HELP!!!

I have a 2001 S-430 and i just changed the front disks and pads and now i have errors showing up for APS / BAS / ESR and a airmatic.

When car is first started and when braking for the first time on start the brakes grind like abs is trying to kick in even though it is not necessary for it to. After i pick up speed to about 20 or so the ABS light comes on and the grinding no longer happens... What the hell... i am so scared to take it to the shop... please advice what has happened... Thanks