I have a problem with my Audi A3 (2001) with the ESP light on (Dashboard).

I was told by the previous owner that if I was going over bumpy road I would require the esp to be turned on (I live in the sticks).

While I was driving, by accident I hit a pot hole in the road causing the esp light to flicker on and come off on standstill.
Upon diagnosis it read Yaw sensor error. I changed the yaw sensor but it did not fix the problem. I subsequently changed the ABS pump which I found was faulty.
In the meantime the light stayed on full time. On second diagnosis found that the diagnosis equipment was showing phantom errors.

I am at lost ends to what to do next. The car is now handling normal (esp is working) but the esp light (on dashboard) is still on!

I have a theory it maybe a problem with the cluster?
Car drives like a charm, but this light will not go out!

I would be grateful for your opinions to what to do next to get rid of this light....