please re-post, i can not understand that.
I get the ESP light,?
under what conditions?
you replaced the ABS system, nah , i dont believe that. not at all.
what exactly did you replace , name the parts.
ABS controller, ABS modulator, , ABS sensors and tone rings?
did you read the FSM on this?
i bet not.
the 2004 here might help.
the brakes must all be good (1st)
the ABS must be 100% perfect, or the ESP will fail.
ESP uses many system functions to stop skids. including the ABS controls.
to fix this , you need a scanner that can scan all systems on this car.