ESP defective visit workshop




Sometimes the ESP Defective message comes on after a battery has been disconnected and could be completely unrelated to the driveability issues. Try moving the steering wheel from lock to lock several times while the car is running and stationary, it could at least clear that message. And if you didn't recently undo the battery but that makes the message go away, I'd definitely have the battery tested as low voltage can cause all sorts of mayhem.
Obviously you need specific codes, but I'd wager pedal/accelerator sensor, shifter assembly, or a conductor plate issues based on your description of the issue.
Good luck!




