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It is likely not a fuse but a problem with a sensor. your best bet is to scan the system for trouble codes and see where they lead you. A $100 code reader will not work for this system. you will need to find a good independent shop or the dealer and they will likely charge for this. You can also try your local parts store, they may be able to help you for free. DO NOT LET THEM SELL YOU ANYTHING. It is unlikely anyone at the parts store has experience with this system and they will be guessing at best.
Post the codes in the comments and i'll see what i can do to help
Your computer will store the fault code till it gets reset either by scan tool, or by operating the vehicle for at least 50 to 80 "good trips", trips that the ecm found no fault. It is possible there are other faults that the ecm has seen. OBDII systems cannot be erased like the older systems could be erased by the battery being disconnected.
Whenever this warning or any other stays on in the dash it id indicating that the systems control module has detected a fault, it then disables the system as long as the light is on. You must now have the dealer hook up a special electronic diagnostic tool and "scan" the system for the fault code that is stored for the problem(s)
When a 'check engine light' (MIL=Malfunction Indicator Lamp) is turned on, there is a DTC (Diagnostic Trouble Code) set/stored in the ECM/PCM (Engine Control Module/Powertrain Control Module). This code identifies which engine management system component/function experienced a malfunction. Once you pull/read this code, you may begin diagnosis.
The ESP light will come on whenever the abs light is on, this is due to the ESP system cant operate if the abs system is not working.The first thing you will have to do is scan the computer for codes. the computer will store a code whenever it sees a problem and then turn on the light to warn you theres a problem and then shuts down the abs system, there are many auto part stores that scan check engine lights for free as far as the abs system i am not sure you will have to check. the codes will tell you what part of the system has failed. for example there may be a code like C 1201 left front wheel speed sensor, this code will tell you theres a problem with the left frt sensor, it may be the sensor or the wiring or connector but with a little testing the problem can be repaired. the only thing is the esp and the abs are shut down, the car can still be driven you just wont have the abs. good luck and i hope this is helpful.
You need to find out which code is causing the light to come on. O2 sensors are only one pollible cause. There are tons of possible reasons for that light to be on. Most parts stores will scan a code for free. Diagnosis is something else. In other words, the code could even be an O2 sensor code but the problem might not be the sensor itself. It could be a wiring issue or even your computer. But get a code first then try to figure out which part is bad.
The ECU has detected a problem with the emissions system. It can be nothing more than a loose gas cap or it can be more serious. You will need to have the ECU scanned with an OBD2 scan tool. This tool will bring up a fault code that has been set by the computer. This code will tell you what component is being effected. The component may or may not need replacing. It depends on what code you get. Some auto parts stores will scan your computer for free. Post the code back and I will tell you my opinion of what the possible cause is.