Hello all,I have a 2004 A4 1.8T. I was having issues with the ESP light. It was on most of the time and when it would shut off the car ran like crap. Running rough, no power ect. I switched out the brake light switch first with no change then did the MAF and it runs much better with lots more power but the light comes on periodically but the performance is still better. Any idea what could be causing this? Maybe the steering sensor? Any help would be great. Thanx.