Mine kept doing this even I replaced the BLS (which was stuffed)
Mine would come on after several many miles typically on motorway.
I was dreading the reluctor rings, but no, they checked ok - a combination of various faults. Note we did check the reluctor wheel sensors
1) check the battery. What is easily enough volts to start and run may be not enough for the electronics. Mine was borderline so replaced battery - many regular random faults ceased.
2) thoroughly check the various earthing points. Brown wires bolted to bodywork hidden in engine bay and elsewhere. Electricity plus moisture equals corrosion equals oxidized ground tags and poor earth. Stopped PAS and ADS faults
3) check the various modules and relays in the black boxes are fully and firmly inserted so they make good connections. Particularly my ADS which did not want to click down under normal pressure. Stopped routine BAS/ESP fault except on motorway.
4) check (and fix) 4-wheel alignment. I had gradually replaced all the rubber bushes meanwhile, front and rear, drop links, top and bottom, track rod ends and ball joints too, the works.
All of this looks a pita, and it was, but none of it cost as much as I feared.
The last (4) was the expensive bit, in my case a cumulation of replace every single rubber bush, full alignment with a set of adjusted bolts added.
That's mine sorted,. Touch wood it has not recurred since.