I have a 2005 300c hemi with just over 165k and sometimes when I apply the brakes my ESP BAS light comes on, the brakes seem fine and I have no idea what causes this. Help!!

Hi Fellas, I have called 2 dealerships in Michigan area asking for a Brake Pedal Position Sensor for my 2005 Chrysler 300C rear wheel drive. They cannot find and I am a little frustrated. I can find on my own on Autozone. What my problem is with my car is this - the ABS light is on as well...