I have a 2005.5 audi a4 2.0t quattro which has encountered a failure of the abs/esp electrical module. the result is failure of the esp system and the abs system. this is the result of a faulty electrical module which many forums describe as a frequent occurrence and as a result a redesign by the manufacturer. the audi part is ~$1900. based on the experience of many owners and the safety implications i would expect the manufacturer to cover the costs of correcting the defect.