2009 Hyundai sonata
I have a 2009 Hyundai sonata with 257,380 miles. Recently, while driving it feels like it jerks lightly, (it doesnt do this every drive), and my ESC (electronic stability control) light will come on. When I park it sounds like it's putting a bit running, i shut the car off and restart the car and it goes away. Any knowledge and feedback would be great at this point.