I've got the same ABS/ESP problem on my car.
I went to Renault specialist, but his CLIP broke when trying to scan, so he used his other Autel scanner, it came up with the following codes:
View attachment 123088
So my symptoms are:
* when you first start the car, the codes pop up
* soon as you move they go off
* then when coming to a stop it makes a grinding noise like ABS is kicking in (this is the first moving of the car, under about 30mph, i'll explain in a sec)
* then when you go over 30mph it then flags up the ABS/ESP light
* now if you come to a stop, no grinding noises, stops perfectly.
Every time it is switched off, this above sequence occurs!
Cruise control works (so does this use front speed sensors?), drives fine once the lights have flagged up by goin over 30mph.
So will it also be the stub axle, or is it the sensor?
Also discs are pretty new (SNR discs + brembo pads), with new pads.
Thanks