I am having the exact same issues the OP was having. I replaced the drivers side speed sensor which my CEL indicated was the issue, however no dice...same ESP ABS and no speedo. I do have after market HID's which have been on the car longer than I've owned it.

^^^ I can also feel the brake pedal pulsate very lightly for about 1 sec just before the lights come on. I'm wondering which part of the ABS is the problem