I'm going to play with the wife's roadster.. as in pull a sensor out of position and see if it goes to ESP error with the sensor immediately or when rolling. I know my cars problems were jumped on as most likely speed sensor or battery when I was new here (merely started car and lights-spoiler-action). Tried wheel sensors.. no joy... battery finally went belly up about 8 months later.. same condition. Even though at the time I had noted ABS error too.. it was ignored as a symptom in this. I'm really feeling ABS pump and or module in mine, since the yaw sensor and clock spring are ESP related actions. Might try to get to it Monday if we get back from Nascar race early enough.