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Hi, it sounds like it's time to replace the battery. You will need to get the battery charged and tested along with the alternator. If the battery keeps needing a jump I'd say either the battery is bad or the alternator is not charging the battery. For the BAS/ESP warning you need to start the car and turn the steering wheel all the way to the right and then all the way to the left a few times to initialize the steering angle sensor.
Let me know if you have any questions.