C-Max Abs/esp Dash Light Problem

Hi, wonder if anyone can shed any light/background on the following issues.

Recently purchased a 2nd C-Max (2008) and after 2 weeks I could smell diesel in the cabin, dealer took it back and had the car for 5 days while some 'fuel return pipe' was replaced. Now 8 weeks on I had a feeling the brake system is faulty. About 3 weeks ago when braking the steering column vibrates (usually braking from 30mph+) and after contacting the dealer to have it booked in the ABS & ESP lights have lit up and remain on constantly.

I don't believe at the point of purchase that any checks on the brakes were done (I saw no report on the life of the brakes) and after speaking the the maintenance manager and saying we'd only done 1100 miles in 8 weeks, he immediately leapt on this being the problem that low milage can cause rust etc. I explained this shouldn't be the case as while it's low'ish milage the car is used daily for short distances, so the usual build up of rust will be cleared.

On driving the car the ABS & ESP lights stay on and there is a strange grinding that I can feel through the accelerator pedal when turning.

The car is still within the 3 year warranty and has an extended dealer warranty (Arnold Clark) for a year when commences in Sept.

It's booked in again tomorrow to be checked, but I'd welcome any advice/thoughts.