What does the C1611 code mean on a 2006 Kia Sedona?

Question

My "ESC OFF" indicator light stays on. When I push the ESC OFF button on the console nothing happens. When I took it to have the diagnostic check performed, they said that the codes C1283, C1513 and C1611 appeared. They recommended replacing the ABS module and YAW sensor. Cost for both would be $1500+. They also said that the van will operate with the ESC off, however, the traction control and ABS systems would not operate. Is that accurate?