2006 LEXUS RX330 Electronic Stability Control Esc Problems

THIS SUV DASH BOARD LIGHTS COME ON WHEN YOU DRIVING. CHECK ENGINE,VSC,ABS,TRACK OFF AND ANOTHER ON AB SYMBOL LIKE A U DOWN WHERR THE HOT AND COLD. IVE SAW WATER COMING FROM THE MUFFLER.

AT APPROXIMATELY 4 IN AFTERNOON, I HAD COME TO A COMPLETE STOP IN FRONT OF MY TOWNHOUSE. MY FOOT WAS STILL ON THE BRAKE FROM STOPPING (I WAS JUST ABOUT TO PUT IT IN PARK AND TAKE OUT KEY AND UNFASTENED SEAT BELT) WHEN IT LURCHED FORWARD AND STARTED TO ACCELERATE. I TRIED TO STEER AND PUMP THE BRAKES BUT NOTHING WORKED. IT WAS TOTALLY OUT OF MY CONTROL. THE CAR LUNGED FORWARD GOING OVER THE SIDE WALK AND INTO MY FRONT PORCH, DIRECTLY HITTING MY WROUGHT IRON BANNISTER. THE DISTANCE FROM THE PARKING PLACE TO THE BANNISTER IS ABOUT 10 FEET. THE CAR ACCELERATION STOPPED ON IMPACT. I IMMEDIATELY CALLED MY INSURANCE CO AND I CALLED THE POLICE AND FILLED OUT A POLICE REPORT. I LIVE ACROSS FROM OUR COMMUNITY SWIMMING POOL. CHILDREN ARE CONSTANTLY WALKING ON SIDEWALK IN FRONT OF MY HOUSE ON WAY TO POOL. NEIGHBORS WALK...