A little summary here just in-case someone did a search for similar issue......
Dash light lighted up: ABS, ESP and Slip
What triggers them: When idling, few press on the brake will trigger them or when you press the brake, slowing down to a junction or traffic light.
Symptoms: Car drives normally, not on limp mode, just no ABS or ESP capability as they are disabled
Fault code: C1143 and C1109 (Only possible using proper OBD tool, don't think a cheap bluetooth dongle will read them)
These lights will reset when you turn engine off, but will reappear once you press the brake (sometimes 1 press, sometimes a few)
Things to check yourself before getting help from specialist:
1.) Brake fluid level - make sure they are topped up to Max level
2.) Rear brake lights - make sure they are on when lights are switched on and the should be brighter when you press your brake
3.) Brake pedal switch - make sure they are not faulty
If all those above fail to resolve this, time to go to a specialist unfortunately
In my case, they checked all sensor, brake light, etc. Finally diagnosed to faulty ABS actuator pump.
If you need a good quality pre-loved ABS actuator pump - Great service from Alex