2008 SS/TC ECS Light

I am having issues with my ESC, the display says to service ESC. It appears to be stuck (the button is NOT stuck), when I press the the ESC button nothing happens, if I hold it down it will show "Launch Control" though the launch control is not acitve, and the ESC light remains on.
I took it in to the dealership, they told me my warranty is on "FULL BLOCK". I had no idea. The only thing I have added is a CAI.
They told me the car has been used for racing, something the dealer chose to leave out at the time of purchase. It worked great when I bought the car. I bought it used with 8,000 miles on it in Nov 2010. I now have 34,000 miles on the car.
Any ideas on how to fix this problem?

So they told you it had a full warranty at the time of purchase? Time to raise hell.

In lieu of that you probably need a new wheel speed sensor.

You need to get someone with a Tech2 or high end scantool to get you the codes. No way to truly diagnose it without them.