2016 BMW 328I Electronic Stability Control Esc Problems

I WAS DRIVING WITH AN ADULT PASSENGER ON JUNE 1, 2018 AT APPROXIMATELY 3 PM ON A PUBLIC STREET, TRAVELING STRAIGHT AT APPROX 40 MPH. CONDITIONS WERE DRY AND SUNNY. I PRESSED THE BRAKE AT A STOP LIGHT AND THE CAR STOPPED FOR A BRIEF SECOND AND THEN LUNGED FORWARD WHILE THE BRAKE WAS STILL DEPRESSED. I PUT BOTH FEET ON THE BRAKE AND PUSHED HARD TO THE FLOOR. THE CAR CONTINUED FORWARD SEVERAL FEET AND SLOWED TO A STOP. THE ENGINE WAS REVVING WHILE I TRIED TO STOP AND MY PASSENGER STATED THAT THE RPMS INCREASED RAPIDLY. NO WARNING LIGHTS CAME ON OR ENGINE WARNING. I WAS APPROX 2 MILES FROM THE BMW DEALERSHIP SO I SLOWLY DROVE MY CAR THERE, PUTTING IT IN NEUTRAL EACH TIME I HAD TO STOP. I EXPLAINED THE SITUATION, THEY REVIEWED THE CAR AND FOUND NOTHING WRONG. THE CAR HAS A HISTORY OF...