ESP light keeps coming on

[sparkiUK]

Hope someone can help before i take it to Audi to be ripped off. I have an Audi A6 2.5 TDi V6, 2002, and recently the ESP light on the dash keeps coming on. Not all the time though. Some days it won't come on at all, and others it will come on for 10-20 secs then go off. I thought it might be when cornering or going over speed bumbs is setting it off but it has no pattern, often coming on when driving a steady 30mph in a straight line on a smooth road. Any ideas. What i also notice is that when i brake to a stop, you can feel the gears moving into 1st once stopped. Car is an auto so may be normal when ESP is off, but doesn't do that when ESP is on as normal. Related?

Appreciate any help or guidance.

[Brooksy]

Sorry, you're probably opening this with some anticipation but I can't give you a solution as I'm yet to get an answer myself!! Exactly the same thing happens with my 2001 A4 1.8T Quattro Spt. The only variation on your symptoms with mine is that if it happens whilst crawling in traffic it occassionally stalls........but again, not always. I've tried following the fault codes that come up on the diagnositics and replaced a Mass airfilter and a steering sensor at some expense and still it does it. considering going to Audi and getting "tucked up" myself. I have the same question posted on the forum but as yet no reply. If you get an answer please flip it on to me!
Cheers
Aran