Hi mate,just seen this post.
I have a similar problem,but both the ESP light and the TPM lights are on constantly.
Turned out to be the ESP sensor pack located underneath the drivers seat which is an expensive fix.
A little internet digging turned up a fair few similar problems across the VW range..mine is an 07 plate.
I called VW to see if they would help as it's a known fault, but mine is a different fault code to all the rest(typical!) but VW have conceded to 20% of the cost of repair.
Get it checked at a dealer,then see if VW will cover the cost or partially cover it,if it's the correct fault code.
If not,then places like Autotek can either repair the faulty unit,or replace it on an exchange basis with a recon unit.
HTH.