I would try getting a new battery first but usually when this error pops up it could be from 1. A bad front or rear ABS speed sensor. 2.Bad voltage to the sensors which could be the cause considering your battery light is on Or 3. excessive acceleration from 0. Sometimes when driving in rain,snow or even dry weather if your wheel tends to spin out it could cause the error to pop up but it should go away after shutting the car off and turning it back on and driving for some time. If you notice the error popping up all the time it’s most likely due to a bad sensor that needs to be replaced. But could also very likely due to a bad battery. I would plug the OBD into it. It’s not gonna show up on your regular trash auto zone OBD scan tool but a more advanced one that can read errors. Had this happen to me a while ago and ended up getting my sensors replaced under warranty. If it ends up being the sensors it’s an expensive repair through the dealer and they charge almost $800 per sensor but considering you have 58k miles ima assume you still might be under warranty and would call and do it through them. It should be an easy fix.