2010 NISSAN PATHFINDER Electronic Stability Control Esc Problems

WHILE DRIVING ON HIGHRISE PKG LOT HEAR GRINDING NOISE, ONCE OUTSIDE I GOT TO CORNER STOP AND TURNING TO THE RIGHT I STEP ON THE BRAKES, HOWEVER THE CAR WOULD NOT STOP.IT TOOK APPROXIMATELY ONE CAR LENGTH TO COME TO STOP MOVING, ALL THE TIME WITH THE BRAKES APPLIED TO THE BOTTOM. NO OTHER INCIDENT FOR A WEEK. TWO SUNDAY'S AGO AT CHURCH THE SAME HAPPEN, APPLY BRAKES AND CAR CONTINUE MOVING , IT TOOK ABOUT A CAR LENGTHS TO COME TO STOP. LUCKILY THERE WAS NO ONE WALKING AT THE CHURCH PARKING. IT IS AT THE DEALER SINCE THEN FOR REPAIR. IS WAITING (9DAYS)FOR THE ESC MODULE, WHICH WENT BAD AND WITHOUT IT, THEY CAN NOT DETERMINE THE BRAKES PROBLEM. ONCE THAT IS REPLACE THEY WILL TEST THE ABS COMPUTER BECAUSE NOTHING APPEARS TO BE WRONG WITH THE MECHANICAL/PHYSICAL PARTS OF THE BRAKES. THE CAR HAS GAVE ALL THE...