I was flying my Mavic Pro indoors in a large indoor space (a winery) and was getting warnings about flying close to objects, but never hit anything or crashed.  I landed and went to take off again and got a ESC Error.  I shut it down and restarted and still get the same error.  The drone will not take off at all.  The camera is still working and I can connect to the drone.

When the drone restarts there is an error saying the drone can't take off.  If I look in the main menu there is an  "3.No ESC Error" listed.  The Mavic Pro is updated to the latest firmware.

Does anyone know what the problem is and how it can be fixed?  Do I need to send it back to DJI to get it sorted?

I'm sorry to read the issue. Please try to connect DJI Assistant 2 to refresh the firmware to see whether it is misinformation. If no luck, I'm afraid that you have to send the unit in for diagnosis. You can start a case from here: https://www.dji.com/support