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Sounds like your ESP is malfunctioning. Could be nothing, but maybe you should go to your dealer and get them to fix the problem and/or make the lights turn off :)
 

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The indicators appear because something is wrong. Since you getting an abnormal noise as well I would certainly take in as soon as possible before something gets chewed up. You should not drive with that noise. Lights is one thing. I could be a sensor not switching something or not but if it creates a noise in the power train. That not something you want while driving.
 
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