The other week my ABS and ESP lights appered on the dash and every few days or so they would disappear/reappear again.
I took it into a VW specialist who ran diagnostics and said "it's the ABS sensor!" So a week and £110 later, said ABS sensor was fitted.
Today on my way home from work both the ABS and the frigging ESP lights are back up on the dash.
thingyhooks