Recently i had an ESP fault ccome the car drove ok but could not reset the fault at first thought it was the tyres rolling cicumference different as all the tryres were not the same but was not the problem it turned out to be the brake switch put a new on amd problem went away none of this esp module faulty or steering angle sensor so if you get this fault change the brake switcb cheap and easy to do

the brake switch is a two stage switch the normal side of the switch act like a normsl switch so brake lights still work the other side of the switch iscthe input signal to the can bus so even though the brake lights can still work its not always obvious the can bus side has failed