Just did the front brake DIY replacing both the front rotors and pads on my '04 E55. The job was rather easy except getting the rotors off the hubs. Followed all the steps including disconnecting the SBC wire harness. Started the car to go for a quick drive and test my work. Both malfunctions appeared as soon as I hit the brake pedal. Did a quick search and didn't find anything specific to the problem. I'm sure I just overlooked the thread. Will this go away after a few cycles? Or, do I need to take it in for service?

This may be dumb, but you remembered to plug it back in right?

Yes. SBC is plugged in. Even check to make sure it was seated and locked in properly.

Last time I changed a battery I got the ESP alarm also. If your battery was disconnected it is possible to get the ESP alarm and after enough cycles it will go off.

I just changed airmatic struts and my bat was disconnected 3 days. I got the ESP also and did not touch the brakes. The power off is what causes it. Cycle by driving and all will be ok.

Just be sure you don't have RED brake warnings and make sure the brakes work properly. My guess is you are ok but you will have to determine how the new brakes are doing.

I never disconnected the battery. I do have the RED brake warning.

can you see the brake pads moving freely in the caliper? when i messed around with my pads that were rusting away, they jammed and caused the same error, also the EBC Red pads i put in were very tight and needed grinding on the shim a little to help them move freely, a stuck pad would also cause the error.