I have a 2001 Audi A6 4.2 which to tell to the truth, I don't know much about. Last night while driving, I noticed that these 3 lights were on (esp, abs, and epc), and but the car was operating fine.. I pulled over turn off car, turned back on, but abs and esp light were on.. 1 minute later the epc light comes on again.. I do have a code reader which I'll plug in later today, but just wondering if anyone on here has experinced this and what could be the problem?

 

The bosch abs units on these cars are very common to go bad not saying that is the case here but i replaced a bunch of them.