I'm thinking of buying a used Audi in the near future and want one that comes with ESC/ESP. My budget is somewhere around $3000 - $5000 and looking at a late 90's/early 00's model. Which models should I look for? Dual airbags are also essential. Thanks...

 

I think the A4 started with ESP in 2000 or 2001, which you should be able to find in your price range. Repost your question in the B5 sub forum and you should be able to find your answer.