for the others with issues:
-ESP light will turn on after a while of driving if your steering wheel is not centered properly. This can technically only be centered if you have an AEV Procal or a dealer scan tool.
-Front wheel speed sensors cannot be contaminated by mud or dirt. If they do get contaminated, the wheel bearings will also need to be replaced as there will be mud and dirt inside the sealed wheel bearing assembly. Only the rears can be affected by mud/dirt ingress.
-ESP activation while under braking when turning left or right van be caused by worn axle ball joints, the sensation is usually the brake pedal pulsating and braking effect only occurring on the wheel opposite to the direction of your turn - I have had this event at speeds as low as 20km/hr.
-No swaybars or extra body roll from a crap lift can and will cause very early ESP activation when cornering, the effects of this will be felt from whole vehicle getting brake application and power being cut.
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