My 09 plate S-Max Tdci 2.0 was doing this intermittently at low revs and ESP light was on permanently.
I employed a mobile mechanic. This guy changed one of the 2 brake sensors (active/inactive) is the way he described it, recalibrated the steering as he said the steering wheel sensor was showing and changed a fuse to the ABS. £45 and touch wood hasn't done it since.