What do I do to fix my car that tells me (service esc

Have it read for codes, even if the check engine light is NOT on the computer will have stored information and codes. Discount auto stores will read codes for no fee. write them down.. I would EXPECT to see this DTC report . DTC P1516: Throttle Actuator Control (TAC) Module Throttle Actuator Position Performance DTC P2101: Throttle Actuator Position Performance DTC P2176: Minimum Throttle Position Not Learned.