Almost every day I get about 20 miles into my 30 mile commute with or w/o cruise control on and my esp light and etc light comes on disabaling my cruise control and causing the car to run rough with elevated rpm's. I pull over and turn the car off and back on and everything is fine until the next time. I can't seem to find any solid fix for this issue and don't want to waste my time going to the dealer. Does any one have any ideas?