I have an 2004 A4 1.8T and have noticed lately that the antilock brake and esp light occasionally come on the dash. This usually happens right after start up but has sometimes come on after I have been driving. When the lights are on I noticed that it has disabled the speedometer and cruise control also? It does not affect the driveability of the car in anyway but I need some help figuring out why this happening and what needs to be done to correct this. Could it be a bad ESP or ABS sensor? Thanks for all of your help. I really appreciate it! Also, when the lights come on if I restart the car, most times they go off. Really confused here! I need help please.