If your fault code is something like "esp sensor module g419," then there may be a defective or disconnected sensor module... I just had to replace mine because the esp light was constantly on, along with the hill descent light. With the sensor not working, the vehicle's esp system shut off, so I had no abs or traction control. Realized that in the driveway when we had a bit of snow.
If you have or know someone with a scanner, I would run it to see what fault code shows up, and whether there is a consistent history of that code. Or take it to a dealer to see if they can diagnose the particular (my dealer charges a fee to do this). If it is something different than the "g419" module, then I really wouldn't know what's up. When I was trying to see what the issue was on mine, I saw another of other posts where the same light was caused by a different issue... so it may be something completely different.
These modules are pretty pricey new from VW (600-700+), but you can find them online used for around $150. It is a Bosch sensor module, and I believe it is also used for the Cayenne and the Q7. The module itself is located underneath the center console, which was very difficult for my mechanic to remove (believe you have to take apart the arm rest, etc...). Once you get to it, it just plugs in.
Here is a link to a unit like the one I purchased..
04 05 06 07 VW Touareg Accelerometer ESP YAW Sensor Control 7H0907652 | eBay
I'd definitely run the scans first to try to nail down the issue.. good luck!