The ESD is very sensitive to low voltages or interruptions to power supply. I'd say the HIDs are definitely a factor here. ESD light can be a symptom of a weak battery on the way out. The ABS models have a larger battery but they are still borderline inadequate from the factory. With the extra load of the HIDs, esp when they start up, I'd be wanting a stronger quality battery. If you still have the original battery I'd say that's likely the issue. HIDs place higher strain on the bikes electricals, lots of people seam to like them and that's fine but they are going to increase draw on the system