Abs,brake, And Esp Lights Come On

having a problem with the ABS, BRAKE, and ESP lights coming on. when driving the lights would come on and the car would sound like it wanted to stall out, then all of a sudden come back to life. took it into chrysler dealership first time around and 4 days later, they determined and it was some module, changed it out and charged me over $800. 2 days later when we were leaving on our roadtrip of a 7 hour drive, it started up again. on our return trip, thought we weren't going to make it.....driving 65/70 on the freeway, it starts up again....same 3 lights flicking on/off and this time we heard popping type of sounds. took it back to the dealer. they had it for almost a week and really could not determine the cause. said the diagnostic wasn't showing them anything. they removed my 'after market' alarm system (even though we purchased the pacific with it from another chrysler dealer) saying that it was the cause of the problem. well, here we are, 3 months later and its happening again. is this a common problem for the 2007 touring, 2wd? the vehicle has less than 42K miles, and even though we've had to replace 2 of the motor mounts w/less than 30K miles, its been great ride! i really hate to get rid of it, but i'm scared to drive it with fear that i'm going to be driving and the lights will start to flicker and it'll stall out.