I own a 2011 Veracruz I bought 3 months ago from a dealer. In the past week, on two occasions after a hard brake at a yellow light, my ESC light came on. Two days ago when it happened, after stopping, I was unable to shift into park. Finally, after turning the car off then on again, I was able to get it to move and the light went away. Today's incident occurred and while looking for parking, noticed one opening up. I was just past it but could not get the car to reverse. After many attempts and trying to solve it by turning the car off and on etc. I gave up and moved on. I then found a spot, pulled in and could not get the car to go into park or reverse. I was stuck. The key would not come out of the ignition and I could only put the car in neutral. It's 112 degrees in AZ today, and I am panicking. I tried for almost 20 minutes. Finally I somehow got the car to jump forward a bit and slammed the braketo keep from hitting the parked car in front of me. Once I did that the car slid into park, I could remove the key and went inside the store to cool off (physically and emotionally). I came back out, started it, put it in reverse and moved on as usual. I've never had anything like this ever happen and am very worried. Any clue what is happening to my car? By the way about a week ago I noticed the Esc light once before, and had no idea what it meant. It seemed the car had a bit of a traction issue while driving with that light on but that could have been my imagination. Any Help would be so very much appreciated.