i have a 2002 audi a6 3.0 quattro and have been having this esp nightmare lately. the esp light would intermitently blink and after a short while sometimes stay on while im driving. to reset it i would have to turn the car off then back on again. what i did also notice is that when i would go over slight bumps on the road the esp light would also flash. on to the scary part...also when im driving and press on the brakes to slow down or to come to a complete stop, when i press on the brake pedal it would sometimes feel like the brakes are slipping and the brake pedal would go further down than my foot was actually pressing on it and would make a low growl/grinding sound (if that makes sense, kinda hard to explain). Second...at different speeds ranging from 15 to 60+ mph ive noticed a few times that my car would feel like a fast skid/short hard jerk while pulling to the right making that same growl/grinding sound. i would then have to lift my foot off the gas pedal. being that this is happening at speeds of 60+ mph it is very terrifying! i have had the right front axle and all brakes/rotors fixed as needed for routine repairs but i dont think the issues have anything to do with the repairs because i was having these issues prior to those repairs. just seems like its getting worse...PLEASE HELP ;(