Gerald.
With-out knowing the exact system, i would hazard to guess you have two problems.

One, is the column module and hence the steering angle sensor.

Two, lateral acceleration sensor fault.

"I have HAD the codes checked with the Autodiagnos;" does that mean you don,t have a scanner that can read this ? If you can,t see live data i will be guesswork.

Only today i had a SLK which put the ESP light on and it was a very slightly loose connection to the lateral sensor, only found during a wiggle test.
Kev.