About 3 weeks ago the ESP light on our 2007 petrol FR light came on and would not go out. After reading various threads we feared the worst and were duly advised by Castlegate SEAT in Norwich that the ABS pressure sensor was faulty (G201 fault code) and the repair cost would be over £400.00. As this seems to be a known fault and the car had been fully maintained by the dealer from new, we asked them to approach SEAT on our behalf for a 100% goodwill gesture. Initially SEAT offered £150 off the bill, but after we rejected this SEAT reconsidered and agreed to meet the full bill. The work has now been completed and we are very happy with Castlegate SEAT and SEAT UK for the straightforward way they dealt with our problem. Hope this update on the subject helps other readers.