Sorry just realised I replied to the wrong post, meant to comment on the power steering one! Sorry new to this site I literally just registered so that I could message you!
Hi did I see on another post that you are based in Birmingham? I had the same problem, intermittent PS light on but would eventually go back to normal, this morning it's now on permanently, I drove it to work because I had to (huge arm workout haha) but the ESP light is also on.. wondering if...