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I've owned my RS4 canrio for about a year now and on a few occasions I've been at stand still after running the car for a while and getting it warm and as I go to pull away the ESP and EPC lights come on and the car limps along. After I restart it the EPC light remains on but the car runs fine. I've had it on a diagnostic machine at an independent garage and the error message says both ECU's need replacing. He's of the opinion that it can't be right as even with the EPC light on the car runs fine. He's reset it on 2-3 occasions but after a while, could be a day or could be a few weeks the same happens again. Anyone else had this problem and can assist with the potential fix? Thanks

Could be the MAF.. I had similar problems with the esp and epc lights on.. Then getting them re- set a few times and then only epc light on.. Car also run ok.. The only difference I found was that as I lifted off clutch to pull away had to apply more throttle as car felt like it was gonna stall..mine showed MAF fault code each time.. Hope you get it sorted fella

The other things are rear bulbs (more of a b6 issue) and brake switch down by the peddles can also cause this issue.

Whats the actual error code??

I had the same problem and it was the throttle body. Bought a new one at great expense and the problem was solved.
I had the ESP and EPC light come on and the car went into limp mode. Restarted and it was ok. Then after a while the same problem would occur.

Thanks for the replies, I've booked her back in to see the garage on Friday of this week so I'll ask him to give me the code read outs so I can post them on here. I mentioned the throttle body and he said it could be but didn't want me to spend out the money for a new one until he was sure that would be the fix so I'll just have to wait and see what he says.