Ok guys, just bought this car, 98,000m been back to garage several times now, and been told the problem is fixed... but it keeps coming back.. getting a bit tedious now!! Any help or advice would be gratefully received. Ordinary driving, any condition, after about 20min the BAS/ESP and ECP light comes on, the car wont kick down. No ABS errors The car did have worn brake pads when I bought it so the garage fitted new pads and sensors all way round... But it hasn't cleared this issue... I Have read on here that if the steering wheel is slightly off centre this can cause the yaw sensor to throw a code.... car thinking its going in a straight line but steering left/right? would explain the no kick down (limp mode?) could it be that simple?... the poor guy in the garage is pulling his hair out, as I am as the garage is a good 45min drive from me. Also, the head unit occasionally says battery level low, start engine, or im gonna switch off ... engine running. No alternator light on, and its a new battery... I always thought battery Voltage when running should be 14.4v... Im getting 12.9v on meter... which is calibrated... Alternator on way out?... Please confirm the 14.4v before I go back and demand new alternator Could it be that the low voltage is causing the other errors? Any help or advice?