What are your current road conditions like?
Ok, I was just trying to see whether this might be normal operation if you were on snowy roads.
This system will need to scanned for codes then, so I would suggest your dealer do this.......and it might be a free repair if you still have warranty.
It will be safe to drive until then....by the sounds of it.
Your basic diagnosis will cost you between 1/2 an hour and an hour's labor.....based on your local labor rates.
Any further costs for repairs, will be based on what they find during the diagnosis.