05 audi a6 quattro 3.2 esp fault with check engine light on
 

Hello there,I'm having the esp fault problem with my 05 audi a6 quattro 3.2.After driving for like 5-10 minutes,the esp fault msg showed up with engine shudder(*also noticed it would come faster during the summer and slower during the winter)If I restart the car,the light would be off for 10 mins and back on.After the msg appears,the engine turn to limp mode(hard to accelerate and shakes badly if accelerate more than 2k rounds.And the car hesitate to accelerate as well).Please help!