As above, needs the faults reading from ESP/ABS.

Usually it's the brake pressure sensor fault on them (as per all vehicles with MK60 ABS/ESP) Fords, VW and BMW all get the same fault. New ABS/ESP unit from Ford is £1400 + vat , they can be repaired by ECU repairers such as BBA reman.

U codes are faults over the communications network of the vehicle, at a guess it will be 'invalid data received from PCM > ABS/ESP' or something like that. (if there's a fault on ABS/ESP it may give that code as the PCM is getting invalid data from it)