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need advice guys

ive just collected my 2000 s6. Its just been serviced with belts etc changed but Ive noticed when i accelerate hard ,when i get to about 70mph the abs and the esp lights come on in my dash?? is this normal when theres no wheel spin etc?? the car also seems to chug a bit when accelerating hard although not so bad when on tiptronic instead of auto - please put me out of my misery

Hi you might see the esp light sometimes but should not see the abs light and the acceleration should be nice and smooth in auto or tip mode.

I had something very similar in mine. After a while, they came on permanently and the car ran as rough a badger's bum. Turned out to be the air mass sensor and cost about £400 to get fixed. (This was in five years ago!)