I had similar faults on mine in the past, can’t remember if there are specific fault codes for each ABS sensor or I found it by process of elimination but the connector for the sensor behind the wheel hub had gotten damaged giving intermittent connection.

Got a new fly lead for the connector and was able to swap the plug over without having to replace the full cable. 

My problem (ESP light on after going into boost) was due to a boost leak. Pipe from turbo, hard pipe, pipe into intercooler checked, hard pipe was rusty (which is going to give you a bad seal) so I took it back to bare metal with a 80 grit flap wheel on a grinder, primed and painted. Replaced rubber pipes with silicone ones and got good quality hose clamps. 

My car was upped to stage 2 which probably exposed the failing seal on the hard pipe because it is now running at 20psi on boost. I have a K&N filter which does not cause the issue. 

Problem now gone. I boost and no ESP light! 

Don't you mean EML? ESP is the Electronic Stability Program, which is what this thread was about - 2 years ago!

4 hours ago, mjt said:

ESP is the Electronic Stability Program

Well that's disappointing. I always thought my car had paranormal powers and could tell the future  🤣