When I went to pull out onto the highway, the van would not accelerate. It was moving slowly, but the gas pedal had no effect. I pulled off to the side of the road, and the ESC off light, and Check Engine light were both on. I turned the car off and on, and it started working again. The check engine light stayed on. I was really lucky that there wasn't a bunch of traffic that day! It could have cause a bad accident! After looking around online, I see that I am not the only one who has had this issue. Hyundai needs to fix this!