I have a 2002 W203 model and have the ESP warning on...'ESP malfunction. Visit nearest workshop'. It appears intermittently and does not seems to affect performance.

So far I have change the ESP module but it still appears. Anybody can help?

Thanks

I would have the car properly diagnosed by a qualified repair facility before continuing to hang parts on it. That ESP module is expensive and probably the last place the problem is likely to be. You have already spent more than what it would cost to have some one diagnose the problem. It is possibly a wiring issue where the harness connects to the module/hydraulic unit. There was a TSB regarding corrosion on three different wires that would cause an intermittent ESP failure, that may be a place to start. The fault code will actually refer you to that bulliten.

if i were to just start putting parts on it without getting it diagnosed my first shot would have been replacing the stop lamp switch.

I have seen something similar:

When you start the car and the wheels sleep right away when you go the ESP light will turn on.

Solution: start the engin, wait a couple of seconds (if ground is slippery) and go.

Try this : start the car, and before u drive anywhere; just idling, turn the wheels all the way lock to lock left and then right . do that a couple o times and the esp light should go off. If not , u need to get it checked asap.
hope this helps...