ABS and ESP BAS is turned on and the fault code(c1041) appear ,my car is DODGE MAGNUM model 2008

Possible failed abs sensor have scanned with a scanner with abs capibality

take it to a mechanic! the drive train is failing

have brakes checked as when at about 20-25% remaining will cause light to stay on but brakes feel fine and no brake noise will appear

Whenever this warning or any other stays on in the dash it id indicating that the systems control module has detected a fault, it then disables the system as long as the light is on. You must now have the dealer hook up a special electronic diagnostic tool and "scan" the system for the fault code that is stored for the problem(s)

Retrieve the codes, as you have on any vehicle in the last 30 years,
& diagnose from the code

Do you mean that the light with the car and skid-marks is constantly on? If it is not blinking this means that the ESP in your car is not on. It doesn't mean that it is constantly on. If the stability protection isn't working it's likely a problem associated with your ABS system. The car should run fine without traction control but if you absolutely need it I would suggest taking it into the dealership and having them take a look.

When the ABS light goes on, it's likely a speed sensor that has gone bad in one of the wheels. Replacement involves changing the hub that contains the abs wheel speed sensor in many cases.

ESP = Electronic Stability Program
BAS = Brake Assist System

MAYBE NEED TO RESEST THE COMPUTER

you need to see what the eng lite for if there is a trans codes usually the pcm wont let the speed go over 40 stays in safe mode untill you fix the problem or change the sensor,for the esp you need to chage the esp sensor and recalibrate by the dealer