2008 335xi (no idrive) yellow cruise control light comes on randomly often when car is first started

It sounds to me like a problem with cruise control? Turn it off and/or unhook it, drive it a bit and see if accelerating problem goes away? If it does, you need to troubleshoot the cruise control. Any applicable trouble codes?
That sounds dangerous to me, I'd disable the cruise control till you find the problem.
I don't know what testing you have done?

diagnose and repair ABS system

CK codes c0131 ABS/TCS system pressure circuit malfunction. Their is a Technical Service Bulletin out for this that is being addressed by chevy so you may want to get in touch with them.

Have the clock spring ribbon contact drum tested, i think you have a broken filament circuit. the par is located under the steering wheel.

IF THE LIGHT FOR AIRBAG IS ON , THE SYSTEM IS DOWN, THE ESP-CRUISE CONTROL CAN BE FAULTY WHEEL SENSORS- THEETH RINGS TEND TOO CRACK ,CHECK FOR DAMADGE RINGS AND GET AN READING ON THE OBD FOR ESP -BRAKINGSYSTEMS

Sure enough babe! Often the problem is in the CONTROL BUTTONS (those on the steering wheel)... Yet again, I've see the problem point to the Cruise Control Module (Under the hood). Since you mentioned the 'CRUISE' light comes ON, but nothing else is working, I'd hazard a guess the control buttons are malfunctioning. If you press them REAL HARD, do they work? Otherwise, Take the vehicle into a Hyundai Service Center (dealership), pay the diagnostic fee. They will tell you EXACTLY what the problem is and what's needed to fix it (parts, labor, tax, time-frame, etc.).

If the ESP light on the touran stayys on pernamently then it is extremely likely that the ABS control unit is faulty. Its a common problem with tourans, unfortunately the part alone is about £1000.

how did you fix this problem?

Using the indicator stalk, navigate to the tyre pressure reset option, press the reset button twice in short succession but hold it in the second time until a tick appears on the display

See if you can find out if there is a code for the check engine lite and the abs, those can be related if the speed sensor located on the top of the rear axle is intermittantly failing. That sensor sends the speed signal to the pcm and the abs controler witch will also turn off the cruise control.