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just an update: I've been in to Audi Cheshire Oaks who put it on the diag system again. They found an intermitant fault on the steering wheel angle sensor, so thats going to be replaced soon. thanks for everyones advice. Hopefully this will be of some use to other people having the same prob.

Both days were dry. One at 70mph and the other at 2mph going in reverse. thanks for the tip. I'll mention that to the dealership.

Hi Everyone, :unsure::unsure: I have a 2008 Audi A4 (SE). Its the new shape Model - B8 I think.. !?!? I have had two occurences now where when driving normally when the DIS in front me of me has poppped us with "ESP FAULT! - Consult drivers manual". First time was on the motorway doing...