2007 Hyundai Entourage brakes problems

The contact owned a 2007 Hyundai Entourage. The contact stated that while driving at an undisclosed speed, another driver alerted her that there were flames coming from underneath the vehicle. The ABS warning light was illuminated. The contact pulled over and exited the vehicle while it caught fire. No injury was sustained. The fire department arrived on the scene and extinguished the fire. The contact was not aware if there were fire department and police reports filed.

Noticed cruise control was not activating and then not deactivating when manually braking. Upon arrival at destination, when engine was turned off, brake lights are remaining on and draining the battery. Unable to get the lights to turn off. Been having intermittent occurrences of ESC indicator going on at inappropriate times and remaining on. During those times, vehicle feels as if brakes are being applied even while I am attempting to accelerate on a straightaway.