I have 2001 a4 19tdi, starts no prob, 3 to 4 miles down the road starts to run rough and the ESP light comes on, stop, switch off, wait a few seconds, restart then off up the road no probs rest of day, any ideas anyone? vidal

 

Have the ECU scanned for fault codes - something "scannable" is causing all this and the codes will be the first step toward a fix.