Golf R cannot start due to ESP Error

Hi all,

I have experienced ESP error when trying to start the car. When I turn the key, the engine does not crank, instead, the ESP error shows up on MFD. I have to wait for several minutes until the EPC light is on. Then I can start the car with the ESP and EPC light off.

Here is the video: https://youtu.be/fLabGHsjFmU

From the forums, I have already had my battery replaced and still the problem persists. I take my car to local garage which cannot troubleshoot the cause. They just say it might be the relay or even the ECU.

So, wonder if there is any clue?

Thanks