Every so often, the ESP warning lamp illuminates when I start my car from cold and stays on, which would indicate some sort of fault to me. The lamp goes out if the engine is stopped and started again. My dealer had a look at it, but said that there were no faults recorded. My warranty is due to run out this year, therefore I would prefer to get this fixed before then, therefore has anybody else experienced a simillar fault? Is so, how was it rectified?