Got a 2001 2.0 Zetec Estate with ESC which has served me and family well over past years.

Now, approaching MoT time, the dread ESC light is starting to come on at random and stay on for a few days at a time before going out. Cleaned up wheel sensors and stupidly located connectors and nothing obvious presents itself.

When ESC warning light is out, pressing ESC button on centre console brings light back on indicating it is disabled. ABS remains fully functional in either state with no warning lights at all.

Any common/known issues/easy fixes with ESC from that era?

Also getting conflicting advice on MoT status. Some say that having an ESC warning light up is now a Fail, others that it is still an Advisory pending some legislation being passed.

Any views on that?