ESP light on dash - advice please

Good Evening chaps

Now and again in the mornings when I first start the car the ESP light flags up on the dash and stays on until I turn the engine off and on again. Its not every day and sometimes goes weeks without lighting up my dash again. I first thought it was below freezing point it would happen but then it started to appear around the 5 degrees mark to. I'm assuming its something to do with the speed sensors but I'm not to sure, worth me booking in to run a diag check?? or have people had something similar? Thanks in advance, Daryl.