My ESP light keeps coming on & when it does, the engine runs rough, similar to a missfire. It runs fine whilst acceleratng or slowing down but when doing niether (cruising) it is lumpy & makes the car shuddery.
2001 A4 1.9 TDI.
Can anyone help?

 

ya the traction control systems, may cut fuel, use the breaks, and many other ways to try to get your traction back on track
if you have a sensor problem, then it would think your sliding, and try to fix it
so it looks like you may have other problems, i would need to drive it, and look at it, with this little bit of info
does it happen all the time?
or is it intermintent