Right hand wheel grabbing

As im driving around this is the second time it's happened, I was just driving along and the right hand front wheel grabbs and the esp lights up and stays on. Then the car looses all esp, these are the codes i read is there any help you can give from what I've found it points to abs sensor or control module.
Fault codes :
01542 - yaw rate seonsor (G202)
65535 - internal control module memory error
00526

S3 8l amk, badger map, badger tip, custom exhaust system

Any help will be great full thanks.

I have managed to clear all the other codes and i have replaced faulty parts, but the 65535 fault code still stays. Any help on what this could be thanks.