Does this noise/issue only occur when you use the brakes? From what you are describing it sounds like possibly the ABS activating, but that should only occur when you are using the brakes. Go out to a gravel road (or dirt, snow, etc...) and hit the brakes hard as it should activate the ABS and will cause all types of weird noises and the system is basically pulsing the brakes. The ABS, ESP, etc... warning light coming on also leads me to believe it is related to this system. I have seen a bad wheel speed sensor cause the ABS to activate for no reason as the sensor will read zero so the system thinks the tire is locking up/sliding and will activate the ABS even though the wheel is actually still turning. There are also several other things that could cause a similar issue from loose connectors, partially sorted or broken wires, bad hub bearings (tone ring that sensor reads is wobbling or can't be read sometimes), etc....
With that said I absolutely hate it when somebody tells you to randomly start replacing parts with zero diagnostics. That's like blind folding someone, spinning them around in a circle, then telling them to start throwing darts and hope you hit the bullseye..........