audijim113

Bought new to me car, 2000 A8L. Had tire rod replaced and drove home, feeling a little pull to the right and the steering wheel at about 10 o'clock. Fully expected to have a wheel alignment but in the days before getting to the shop, the ABS light and ESP light came on. (little triangle). It wasn't on all the time but fairly consistent. I though something was wrong with the ABS module or if i was lucky just the sensors were dirty.

Turns out if was the tire angle. Apparently the stability / ABS system computes the angle of the wheels. If the toe-in is off, the system thinks you are skidding on ice or something. After front end alignment, no more warning lights and the steering wheel is perfect, goes down the road straight

silverd2

Yep, probably the steering angle sensor (one of a few ESP sensors)in the steering column, causing the ABS to apply just one brake to correct the assumed skid.