Hyundai Sonata ABS and ESP lights

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The ABS and ESP light on the dash board appears when I'm driving my 2006 Hyundai Sonata and it is not going away until I stop the car. This is a real worry for me. Could you please, help me out?

Restarting the car has the effect of rebooting the computer, that's why the lights go out. You need to have it checked to find the cause; it's possibly a poor connection in the wiring loom, or perhaps a faulty wheel sensor.
 

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