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ESC (Electronic Stability Control) Fault/Error Code 2012 SXT


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So the other day I'm driving, and while stopped, I turned the wheel sharply to change lanes. This ESC indicator light came on and stayed on. Later that day the check engine light came on. Have cleared the fault codes several times, but as soon as I step on the brake after starting her up, the ESC light comes back on. So far the CE light has not come back on. The code is P0572, which indicates a "brake switch."

Questions:

Where is this "brake switch"? It seems like a pretty cheap part to swap out as a quick fix.

Where else could my problem be?

The only manual I can find is the service manual from Dodge (which doesn't seem that bad at $140). Are there any other options out there?

Thanks in advance!

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