How common is ESP Failure ??

[audiudo]

Hi just trying to find out how common are ESP Faults my 2007 S3 has an esp fault wich has been diagnosed as brake pressure sensor failure generating a fault code G201,this can be repaired with a service pack, trying to get Audi to make a contribution but I am being told this is not a common fault and any goodwill is unlikely ......however scanning the internet there is plenty of info about such failures indeed my wifes Golf GTI had an esp fault come up last year and the then previoud owner had the ABS pump replaced free of charge by VW , so is it common to have this failure or are Audi right to say its not ......any feedback would gratefully recieved ..

Many thanks
Michael