I have a 2002 A3 TDi sport quattro 130bhp and today had it mot'd (which it passed) but i asked the garage to replace the n/s/f inner and outer cv gaitors and redo the tracking

They done this but couldnt get the steering wheel centred as one tie rod ball joint is seized so the steering wheel now leans to about the 8'oclock position when the car is going straight.

Now when you start driving the esp light comes on and stays on, it wasnt doing that this morning!!

Are there sensors on the steering that are detecting the wheel is not straight and turning the light on?

Typically i was going to put the car on auto trader after the tie rod and tracking have been sorted by the end of the week, and now this...

Cheers for any info!