Hi Guys. My car has been acting up lately. When I first start it up for the 1st 5 minutes and only at low speeds the ESP kicks in braking the car. The ESP light then stays on and turns itself off again after a while. It only seem to happen when the car is cold and only at low speeds like 20 mph. I am going to take to Audi to take a look but thought I would ask on here 1st incase it may be an easy fix. It goes away when I turn the car on and off again but not always.