Hi mate i recently had this problem on my TDI and got it fixed by VW dealer for Free of Charge I dont have a warranty and my car is 05 plate with 115.000 on the clock at that time
Contact them and tell them the story of what happended and tell them that you are aware of the ESP failure being a common problem. As Dom Littlewoods Show "Dont Get Done Get Dom" presented that the G201 is indeed a common fault and you have done your research and under the consumer rights the ESP is Not Fit For Purpose and they have to repair it under their own warranty conditions.. Dont take any bush*t from them
Then all you have to get the Dealer to do a diognostic on your car if the
G201 Fault code appears then be very HAPPY, as the cost of the diognostic and the cost of parts and labour will be free. + a FREE VALET
Then i joined this group, they have people who are very knowledgeable in this issue, they have effective complaint letters, contact details for the CEO and a Consumer rights file
https://www.facebook.com/groups/176599647076/?ref=ts&fref=ts