Hey there, so iv been having this issue for awhile now. and my dealership keeps giving me the run around. Iv replaced all 4 of my coils along with a new filter etc
when it does come on so does my engine light and it will pull on me some, but it will only happen if I idle for too long at a stop light.

 

I don’t know why you would change coils, try inspecting the bearing hub connectors ensure they are clean and dry.

 

It would be nice to find out what code caused the CEL. That is the reason the ESC turned off.
You should be able to pull a history code if the CEL turns itself off. Any big box parts store would read the codes for free.