My ESP light came on in my 2011 Mercedes Benz GL450 and my left front tire seems to be slipping when I accelerate.
You haven't replaced the battery recently have you?
It also can be a bad wheel speed sensor. Driven through any water recently?
To be sure use a Level 2 OBD2 scanner to read codes from the ABS module and the Stability Control.
I recently replaced the battery thinking that might be the problem but it didn't solve anything.
Try starting the car and turning the steering wheel clock to clock a couple of times.