Dont mean to hijack the thread but i have exactly the same issue with the ESP light as you have.
my first thought was maybe it could be an alignment issue and i may just sort out the alignment next time i service the car.
Would love to find out its nothing major.

 

yeah, no kidding. how is the wear pattern on the tires? is there something wonky there?

 

I had a bad fron tire and had two new tires put on but never did an alighnment. Maybe this is the issue. Because the car feels like its pulling right.

 

do an alignment and see what happens.

 

as far as the rough(ish) idle it could be the secondary air pump. its pretty loud and noticeable in feel until the rps drop and the pump winds down

 

I guess it could be the air pump. Its been in the high 20's here so when i start her up in the am she does seem to vibrate more than it should. It's not really bothering me now. After i tune her up and check out my vacuum lines i will see if the probably still persists.

 

Here she is in the snow: