Might be stored in Combination with B10B3 in Airbag Control Module (J234), if so perform Function Test first.
If the Brake Electronics System Function Test procedure will not complete and fault codes are stored in other Powertrain Databus control modules diagnose those issues before replacing ESP components.
TT 45-09-05 (via NHTSA). ONLY if the "Electronic Stabilization Program (ESP) function test does not end after several attempts!