ABS and ESP lights are on

More than likely your issue is the scan tool that you are using is not able to pull codes from the ABS module.

So here is a video that talks about this.

https://www.youtube.com/watch?v=rTtAnsOlZU4

If your scan tool can pull ABS and you still have no codes, then I have to suspect we have an ABS module failure but on this vehicle that would set codes in other modules.

On this vehicle these lights will set codes in the ABS module so I would suggest stopping by a parts store and having them check as well.

https://www.2carpros.com/articles/abs-warning-light-on-easy-repair-guide

https://www.2carpros.com/articles/brake-system-warning-light-on

The likely cause of this is a wheel speed sensor so let's start with getting another scan from another tool just to make sure we are not missing the codes.

Thanks