Vivat least vaguest.
Join Date: May 2016
The VDC yaw sensor might be a contributor, this has to pass through three sets of plugs - one at the unit, then the interconnect between the fascia harness and the front harness, finally the ABS/ESP bloc. Not hard to imagine a little stress or moisture might be compromising the signals. Try a proper contact cleaner/lubricant spray on the connections - not WD40 or similar. While you're at it, do the pedal box harness plug too (engine side, green banded round connector).