Just to give everyone an update, this is what has transpired up to my resolution.

I had a faulty brake lamp switch a while back. Replaced it myslef . And had no problems until about 6 weeks go, the BAS/ESP light came back on. I ordered another switch (installed it). Still the warning light came on. I did though during this time, replace the shocks. Thinking that that one of the wheel sensors were damaged (during install), I replaced them both (those were easy and cost $100 for both out the door from FastLane). No luck, the warning light came on.

So I ran it up to my mechanic(s) and they pulled the body codes. It turns out that the "Lateral Acceleration Sensor" was bad. I had that replaced and no more problems.