There is a recall for this .The brake light recall you got in the mail should fix the esc light.
HYUNDAI IS RECALLING 532,633 MY 2006-2007 ACCENT, ENTOURAGE, SONATA, MY 2007 AZERA, ELANTRA AND SANTA FE, MY 2005-2007 TUCSON AND MY 2007-2008 VERACRUZ VEHICLES. THE STOP LAMP SWITCH IN THE AFFECTED VEHICLES MAY MALFUNCTION. A MALFUNCTIONING STOP LAMP SWITCH MAY CAUSE THE BRAKE LIGHTS TO NOT ILLUMINATE WHEN THE BRAKE PEDAL IS DEPRESSED OR MAY CAUSE THE BRAKE LIGHTS TO REMAIN ILLUMINATED WHEN THE BRAKE PEDAL IS RELEASED. A STOP LAMP SWITCH MALFUNCTION MAY ALSO AFFECT THE OPERATION OF THE BRAKE-TRANSMISSION SHIFT INTERLOCK FEATURE SO THE TRANSMISSION SHIFTER WOULD NOT BE ABLE TO BE SHIFTED OUT OF THE PARK POSITION. IT MAY ALSO CAUSE THE ELECTRONIC STABILITY CONTROL (ESC) MALFUNCTION LIGHT TO ILLUMINATE, AND IT MAY NOT DEACTIVATE THE CRUISE CONTROL WHEN THE BRAKE PEDAL IS DEPRESSED.
The stop lamp switch is used to judge if the acceleration system is abnormal. The stop lamp switch contains two switches monitored by the PCM.
This is all covered at the dealer . Hoped this helped. Positive feedback and bonuses greatly appreciated.The stop lamp switch contains two switches monitored by the PCM. This will cause the issue you are having.It will illuminate the engine light also and cause the transmission to go into limp mode which is what's happening. Have replaced many for this same exact issue. This is what needs to be done next.The engine and esc light come on together .Hoped this helped. Positive feedback and bonuses greatly appreciated.