Did you slacken the cam pulley bolts off when doing the belt? Think the cam sprockets supposed to be free wheeling on those engines when installing the belt so it doesnt pull the crank timing out when tensioning the belt..always worth a timing check just to be sure :)
If its driving ok, it sounds like the fault memory hasnt been cleared hence the ESP light on. If the secondary air pump is split or cracked it will make a loud racket/hissing noise on cold start more than anything but not really any running problems...see how it goes.
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