ESP/BA problem

[jason0618]

Last night I took my Magnum out of the garage and parked it across the road from my house, so I could mow the lawn without getting grass clippings anywhere near it.
A couple of hours later, when I finished the lawn, I put my stuff away, and went over to get my car to put it back in the garage. When I started it, it ran fine for a few minutes, then the chime chimed once, and I looked, and dammit if the ESP/BAS light is on. I drove it back to the garage, and it stayed on the whole time. I shut it down, and restarted it, but this time it went off like usual.
I tried looking for this situation, but couldn't find it.
It's the ESP light, not the skidding car light. I called the dealer this
BAS

morning, and they were, as usual, clueless. That's why I make sure to explain here that it's not the skidding car. They suggested I may have accidentally hit the ESP off button. Like I'm gonna accidentally reach up and over to hit the button. After that, they said not to worry about it, if the light didn't come back on.
Any ideas? I've still got about 35,500 miles of factory warranty left, but I'd like to know if this is a common issue, and if I should be concerned.

[Cdn_Magnum]

Did you have the battery out of the car recently?? or have it disconnected?? If so you will need to re-calibrate the steering angle sensor. (its in the owners manual). Just a thought

[jason0618]

No, I haven't had the battery disconnected recently, but I just got the car two weeks ago, so I don't know if the dealer did before, maybe. I'll look into that.