I've had this same problem with my 2006 for about 8 months now. I wish mine was as easy as the rear wheel sensors. Everything has been replaced and all 3 are still late.
However, around here, rear sensors are about $10/each from the dealer
Did you replace the hardware, or did a dealer? Have that Clock Spring Angle Sensor (CSAS) checked. That is another part of the system that detects where the steering wheel is -vs- which way your vehicle is traveling. So, if you are turned to the left, but the vehicle is skidding straight, and no wheels have lost traction (but fronts are turning slower then the others); this is the only other way it can detect you are skidding, something to that effect; the dealer wasn't that specific when mine needed replaced; with all three lights on.
Mine all come on when I have about 50lbs in the cargo area, and two people in the back seat, so figure that one out... That is also, BEFORE the thing starts applying brakes to different wheels for no reason, and it feels like the transmission is slipping (I thought that when it FIRST happened, till the Bong, and the lights came on). This is even after the CSAS was replaced.
SO, when I have people in the car, I turn ESP off, and it's fine.