Well after a trip to Ford my problems has been fixed (fingers crossed ) I had the car on the IDS machine and ran through a few things, it doesn't like Omex and had a few fault codes come up because of that.

Having tried to clear the DTC's the light was still on, it turned out that the steering wheel angle sensor has to the calibrated by turning the steering wheel through a few angles whilst running the tests through the IDS.

Since doing that the light hasn't returned in over 100 miles and comes on and goes off with the ESP switch.