Apart from the steering wheel symbol and the light on the ESP button,this sound ominously similar to my recent fault with the ESP module.
Get it to a dealer or specialist and get it checked for fault codes.
Mine camr up with G41 or something and required a complete new module.
I phoned VW UK customer services and said about the number of cases I had read about on the net of the failure of ESP /ABS modules across different model ranges,Unfortunatly,this was for a different fault code from mine but VW still contributed 20% to the costs.