My 2008 Hyundai Sonata has a check engine light that stays on and ESC off. This happened as I was driving on the interstate at 60 mph and it idled all the way down. Hyundai dealership told me it was a sensor problem and it would cost $275.00, of course vehicle is not under warranty - vehicle has 63K miles.

https://www.google.ca/url?sa=t&rct=j&q=&esrc=s&source=web&cd=3&cad=rja&uact=8&ved=0CCoQFjACahUKEwiS14u9h4fIAhVD2D4KHRmyDSo&url=http%3A%2F%2Fwww.hyundai-forums.com%2Fentourage-forum%2F147913-tps-sensor-symptoms-tps-failure-cel-esc-off-light-%253Dtotal-loss-power.html&usg=AFQjCNGoQ6TzxEEYpOh0X7Cj2X-lQjPDMQ There are many web sites that refer to the problem you are experiencing

Do not drive your car if you can help it. You could damage your engine further. Get a diagnostic check done on it asap.

A code reader will not work to reset those warning lights.You will have to take it in to the dealer to find out what triggered them to come on,End to clear them.

well, if check engine ligth on have the codes pull to find out the problem it may be mapp ,air ,sensor bad ..if engine ligth is on its picking up a a code..

For some reason, the ESC system "thinks" the drive wheels are slipping and it is trying to prevent the tires from spinning.
Take the car to your local Auto Zone and ask them to scan the car for trouble codes, they will do the scan for free. Write the codes down and respond back to this post and we can start to diagnose the problem.
Good luck and let me know.
Regards,

Take/Tow your vehicle to an authorized Hyundai dealership and pay the diagnostic fee... they will tell you exactly what the problem is and the cost of parts/labor to fix it... at least this way you'll know what the problem is and what's required to fix it.

You will need to service the engine, oil and filter change.

dear friend-running out of gas has nothing to do with the lights that came on,i think that was a co-incidense.plse have the ECS ploblem checked out.

Most auto parts stores Advance/ Autozone etc will get the diagnostics codes from cars computer and tell you why the light is on and what the problem is if there is a problem.

I had an issue where the ABS and ESC lights would go on and wouldn't turn off unless I restarted the car (sometimes they would light up again even if I had restarted). This was because the speed sensor was broken on my back tire. After the dealership replaced it, (under the 36,000 mile warranty) all was good and I have yet to see the lights come back on.

Summary:
Issue: ABS & ESC would not turn off
Solution: Replaced broken speed sensor on tire