So my esp light has been on since I bought the car. The dealer scanned for faults and told me I need a new slip ring. The previous owner said he had the steering removed for a new A/C unit, and this got me thinking that whoever did the job probably didnt know about the slip ring. I dont the dealer about this too. Was still told I need a new slip ring. So I downloaded VCDS-lite, and checked the measuring blocks for the ABS system. Slip ring was 360deg out, just as I suspected. So I left VCDS plugged in and slowly moved the ring to 0 deg, put the steering wheel back on and did the steering angle calibration. Now I have a working ESP system.