The C0286 code has a service bulletin that corresponds to it. It states to replace the Brake Pressure Differential switch. The C0212 is for the YAW rate sensor. You could have wirin issues, corrosion issues. It is under the center console so you may have spilled drinks over the years or depending on what part of the country you are from the winter salt can get into it. Or you may just have a faulty sensor.

So I suppose I should start with checking all of the wiring and plugs, then spend $13 or so on the MPA switch and I think the yaw sensor used I can get for $50. Hopefully that will fix the issue, if not I suppose I will send the EBCM to be tested and resolered ($200), if I still am having an issue I will probably need to replace the BPMV ($700)(which will be a pain bleeding, luckily I have a scanner to keep it open and a pump for bleeding). So at max it will cost me around $1000, and at the least a bad connection $0. I am wondering if my best bet would be to take to the dealer and hopefully within an hour can pinpoint the exact issue ($110/hr). I'm gonna be disappointed in myself if I pay that much just to find out it is the MPA switch that costs $13. I wish the codes given would be more precise, or is someone has had these codes at the same time so I would understand what's wrong. What is your opinion in this matter, where would you start?

You can go for the cheap parts. The MPA switch for sure as the bulletin says to replace it. Start there and see what happens The cheaper you can do it the better. Even if it is an Escalade

Thanks, I will start there, and keep this post updated so others that have this issue might have a good idea of what to do to fix it.