i could'nt agree more
i have had the same things on my A2
I can tell you the things that have remedied it have been the following
1:~If the abs/esp light comes on and there is no reason for them to come on, it keeps doing so even worst in hot climates, you will need a new Yaw sensor which can be found under the centre console near the gear shift it's only a small black box which measures speed, braking, acceleration and side movement.
This takes 30 mins to replace, it cost £400 if not replaced under warranty.When the Audi dealer carries out a diagnostic test it should produce an error code which then should tally with the system that is faulty.
Apparently quite a few A2's suffer from the problem it is nearly always the YAW SENSOR.
2 :~ if the steering is off straight there are some thing you can try.
Check how your front tyres are wearing, if they check o.k. then when your audi is next back at the dealer ask them to perform a 4 POINT WHEEL ALIGNMENT which takes around 2 hours to perform.
I have had this done twice so far and the second time i set the steering wheel in the straight position since audi dealer seem to set the steering either slightly to the left or right.
Aparently the tolerance for the alignment of the steering wheel to the actual front wheels is 4mm either way.(pretty crap!!) if you ask me.
The reason why i had it carried out twice is due to the abnormal tread wear seen on the front tyres and the steering wheel was always turned to the leftalso the vehicle was slightly pulling to the left.
So after all the above i think you will need
Yaw sensor checking
4 Point wheel alignment
All of the above is covered under warranty but only at the discretion of that particular audi dealer.
cheers
A.D.Simmons