Brake Abs Warning Light problems of the 2015 Dodge Charger

On my way to work, my abs and esc light lights flashed on the dash. Esc was in red and abs was in yellow. I pulled the car over, cut it off, and googled what it may be and all kinds of stuff came up in reference to what it could be. Once I started the engine again, it was gone. Let it be known, I travel on the interstate to go to work, so this was a very scary experience for me. I put my car in drive took off once I got up to 78, I put my cruise on and then about 10 mins later the lights came back on again. This time, it shut my cruise off and it's like someone pulled my steering wheel from me. I immediately pulled over again and cut the car off. I would really hate to be driving 75-79 mph and my steering goes out. Phoned Dodge and was told to bring it for the diagnostic test and they could tell me what it was. I went ahead on and continued to work and it did not do it again, even coming home. I just did not use the cruise. Time has passed and it did not come back on but now (twice) when I use my brakes, it feels like they are slipping. Not to mention as of 30 mins ago my lights have come back on. I was told it may be a sensor but it's hard to tell when the lights are not on. This car is my life. . My means to take care of myself and my family. I cannot financially give hundreds every time a light come on and then it goes off and nothing can be done. I was told my breaks and rotors were fine, yet I am still going to replace them. I just need this to be investigated further. . I am a true mopar fan and I love my Dodge, but if I or my family is in danger driving/riding in this car, myself and someone else need to know about it and see if something can be done. Please advise. . Thank you!.