I was heading home on the m62 this afternoon and pulled over to change the address in the sat nav. as I pulled off again the esp light came on and then the epc light. the car then felt retarded and was low on power. I put up with it until i could stop again. i switched the car off. locked then unlocked and started her up. only the ESP light came on and after 20 yards went off. then as I pulled onto the m62 again and put my foot down they both came on. complete with the engine managment. car drove as it did the first time. I got the car home and switched it off and on again and only the engine management light remains on I havent moved the car yet. This has got to be a sensor surely.. any clues as to what sensors affect the esp light? Im going to try and get a diagnostic done tomorrow.