Okay, I am reluctant to offer advice on this forum, cuz I really know very little indeed as most peeps on here will testify. So all I will do is recount my own story...
Some months ago, I had a spin on a bend and had a brief tangle with the side of the road. Apart from a minor cosmetic scuff, I found out the steering rack was bent. It needed replacing, and the independant dealer I used did it very fast. There were a couple of other things that needed doing too, like replaced front disk brakes. Anyway...a few days after I got the car back, my ABS and ESP lights came on. I pulled over, switched off and restarted. Lights cleared. Over time, this happened intermittently. I eventually took the car to Rob at Smartarse Watford, and he checked the error logs before confirming that the brake switch had gone. He replaced it and the lights have never come on again.
This may be completely irrelevant to your situation, but there are enough parallel circumstances (busted steering rack, whacked wheels) for me to hope that your problem may be fixed as easily as mine. A brake switch is a cheap part and takes about 3 mins to replace. So you may want to consider doing that as a first step. This is just a thought...and I hope you get your problems sorted soon as!
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last time i looked the drive in drive out service was £299. which was a lil expensive il go try and find a good local garage and see how much they wil charge to prep the original..
