Fault code help please
Discussion
I'd say it was the Throttle / Pedal Position Sensor 
If the older ones are anything to go by EPS faults can also be ABS unit, yaw rate sensor and steering angle sensor. But you have a throttle position sensor fault so why not start with that one. Or take it to a garage that can perform better diagnosis.

If the older ones are anything to go by EPS faults can also be ABS unit, yaw rate sensor and steering angle sensor. But you have a throttle position sensor fault so why not start with that one. Or take it to a garage that can perform better diagnosis.
Those codes correspond to an issue with either the throttle postion sensor (throttle pedal potentiometer) or the throttle actuator in the throttle body.
This also ties up with the EPC light being on as it's Electronic Pedal Control. The ESP system also uses the throttle position data so thst's probably why the ESP light comrs on sometimes.
Try clearing the codes and see if they come back. If they do you know where to check.
This also ties up with the EPC light being on as it's Electronic Pedal Control. The ESP system also uses the throttle position data so thst's probably why the ESP light comrs on sometimes.
Try clearing the codes and see if they come back. If they do you know where to check.
As long as the connections are not full of water. I's say its 99% going to be the throttle pedal.
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