I've had this for years, I just switch off the ESP/TC every time before I start the car,
it doesn't happen anymore, but I know it's still there.
I have an RSTuner box and it says nothings wrong, so I just gave up caring tbqfh.
But it's normally brake pedal switch, steering angel sensor, or ABS related,
although there's sod all wrong with any of mine, I did have an ABS cable that needed replacing a few years ago,
so mines probably left over from that, but seeing as I never use the ESP/TC it doesn't really bother me.