Cruise Control problems of the 2009 Hyundai Genesis

Brakes are a continuing problem or better said bad brakes, like sometimes going to the floorboard. The esc dash light is on and the cruise control doesn't work either. I had completed a recall on the brake fluid,but shortly after that my my petal went to the floor. Being concerned, I replaced the master cylinder, brake rotors, brake lines and pads. Upon bleeding the system, the dealers new brake fluid came out with sludge floating on top of clear fluid. I contacted the dealers general mgr. And complained of a bad drain repair. He asked me to bring my car in and they'll check it again. I showed him the pictures and they denied that it came from my car, but they would fix my car's brakes for $2700. 00 with no guarantee that it wouldn't cost more. This was tom ah dealer ship in lima, ohio. I feel that Hyundai should be held responsible for these brake problems. I have the fluid saved and pictures also. Upon checking the internet, I have been advised that the esc and cruise control is wired to the abs system. I was on interstate 75 and the car just started applying the brakes by themselves. A ratcheting on off effect. I slowed the car down and pulled the car over to the side. I was within sight of my turnoff state rte 274 OH, so I continued on. I went to stop and my petal went to the floor. I was going slow, made my turn and stopped. I got under the hood just to see if something visual was there. I was within 7 miles of my home a straight line, so I went for it. I pressed on the gas and my left front wheel was locked up. I backed up and went forward again, shutting off the car & restarting it. Brake was released, but petal still went to the floor. I drove home 20 mph, had car towed to dealer for repair. Don't know what they did, but charged $677. 00. A couple days later, my petal went to the floor again. Thats when I did the repairs noted above. Still have problems.