I had a similar problem with a motor after it had been overheated. It ran fine for a couple of meetings and then one meeting it did exactly what your did.
I took it apart and one of the poles had partially desoldered so it would work until it got warm and then would be unreliable, not starting and occasionally stuttering and running half power.
Resoldering the internal wiring fixed it and it has been fine ever since.
Edit: Another point, if your esc can run a sensorless motor, disconnect the sensor cable and see if it runs properly. If it does run then its the sensor at fault if it is still behaving badly then the sensor is fine.
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