Most probably this issue is related to wheel speed sensors (ABS Sensor), it is connected to stability control, EPS, hil start assist etc.
I had the same issue in my Ford Focus and had to replace front wheel speed sensors. Then it is resolved.
In addition, this can come if the 12V battery is week, but you say you changed the battery so this could be one or more faulty wheel speed sensor
Better to do a live scan and see speed sensors give live data, means you need to connect the scanner and drive the car and check all the wheels give speed data. If one or more sensor gives zero or constant high value (my front sensors gave 260 Km\h which is the max value according to the speedo meter), it is a faulty sensor