If the ESC light stays on all the time, then you need to figure that out. It may be a wheel speed sensor that is causing it.
Mine did the same thing yours did, but it stayed on (right at the beginning of a three hour drive), so after a few miles I pulled off the highway, shut down, and reset my codes with JScan. The lights stayed off for the rest of the trip there and the return one.
At 208K I live with an engine light on, so the 100 miles it stayed off for me that day was kinda nice.