I have the same interment issue effecting the Anti-Lock Brake System, Power Steering System, Electronic Stability Programme & Tyre Pressure Monitoring warning lights.
Sometimes its just one or two lights that come on and then sometimes its all of them. Not noticed steering getting stiffer or anything like that, checked type pressures and they are OK. I thought it could be battery related too, as the first time it occurred it was the day after towing my caravan for 2 hours. Had no issues towing it for nearly a year now, but on this occasion my son had noticed the traffic camera was still on a couple of hours after we arrived. With the caravan drawing charge, a number of gadgets also drawing charge, I thought we had run the battery down. However I gave the car a few good runs before towing the caravan home, disconnected everything so the only thing it was charging was the car battery and the fridge. The lights still came on a number of times during the 2 hour journey. The car isn't used a lot at times and can be left standing for a week or so, so thats not going to do the battery any good. Since then the stop start has kicked in a number of times, so I think that is a good indicator the battery is charged, but the lights still come on.
I’ll look into getting a VCDS diagnostic scan.
Thanks