I have an 02 A6 2.7T AUTO with 36,500 miles. Recently at random the esp light will come on. I'm some what familiar with what the esp system is for and what it does. But it has been coming on when it shouldn't be. Like traveling down the highway at 60mph on perfectly smooth straight road it comes on, and when it does the car will pretty much stall and make it unable to accelerate. If i let off the gas pedal and hit the gas again I can accelerate but the light stays on. It is starting to do this more and more frequently. It actually did it almost a half a dozen times on a 60 mile trip home the other day. It got annoying enough that I pulled off the road, shut the car off and restarted it which makes the esp light turn off. Any help here? Not sure if this will help but I also have the common problem with the brake lights staying on, being the switch I believe, or have been told. Another electrical problem I have noticed on one occasion only, I call it the ghost radio. While driving the radio began to change stations and the volume went up and down a few times on its own.. ?The car isn't throwing any codes either. Thanks in advance