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Hi, I am Mike, welcome. I'm reviewing your question.
Depending on what module that code is coming from it could be referring to either a "The Final Drive Control Module is receiving implausible data for pedal position, engine RPM, torque, or engine coolant temperature from the PCM." or a "When the Anti-Lock Brake Module detects an incorrect CAN message from the Engine Control Module (ECM)."
Follow the procedure in this article and let me know if you need anymore info.
What are bas and esp lights?
Do you mean abs light?
That would be helpful.
Ok, is that during bulb check and if so do them light eventually go out cause I noticed there is no engine rpm so the key is just turned on and engine off, correct?
According to page 185 of your owners manual that refers to
Electronic Stability Program (ESP) Warning
Light/Brake Assist System (BAS) Warning Light
ELECTRONIC BRAKE CONTROL SYSTEM
Your vehicle is equipped with an advanced electronic
brake control system that includes ABS (Anti-Lock Brake
System), TCS (Traction Control System), BAS (Brake
Assist System), ERM (Electronic Rollover Mitigation),
and ESP (Electronic Stability Program). All five systems
work together to enhance vehicle stability and control in
various driving conditions, and are commonly referred to
Them lights should go out then after the engine has started, if not there is something wrong within that system.
Ok, then check the Anti-Lock Brake Module pins, terminals, and connectors for corrosion, damage, or terminal push out. Pay particular attention to all power and ground circuits. If no problems are found, replace the Anti-Lock Brake Module
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I don't know. I have never came across this code before and I can only tell you what I read up about it now.
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If you erase the P0401 does it come back active? When did the ESP BAS light frst come on and have you done any repairs? Also what module is setting the P0401 code?