Hello Martin,
your going to see alot of these type of codes and faults with vehicles using CAN and Bi-Directional control systems were abs/esp is looking/talking to auto transmission and engines,because if these are not operating correctly they will affect the way the ECM's etc can cope with braking issues. i.e an engine with a miss fire will not perform well enough for the ABS/ESP (or what ever)to do its thing, as your not really driving it the computers are
Ian.