The ESP failure just happened to me last week on my 56 Golf 1.9TDI. Following on from what I've read here my car went in into my local VW dealer (who has always serviced and maintained it) and all fixed with 100% contribution from VW with no hassle at all. I did have to commit to a £69 diagnosis charge on booking in, but this didn't apply as the repair was covered under the extended "goodwill" warranty. So, thanks to the other contributors for making me aware of the ESP being an unreasonable component failure or otherwise I could have paid c £300. At least if you do have to pay there's a repair kit applied now rather than a complete ABS unit repalcement at over £1,000 So suggest that anyone with this problem approach their dealer to discuss and put forward an expectation of a VW contribution