[Biturbos4] Unexpected and unwarranted ESP Activity - 2001.5 S4

[Al Smith]

                           I have had a few occasions in the last few months
where the ESP engages the brakes and decelerates the car at inappropriate
times.

                       .  One time in Maine passing a car on two lane road,
possibly down shifting to 4th gear at 50 mph or so, so not really getting on
it, and the brakes/esp light came on intermittently.  Horrible feeling being
out passing and to have the car slow down.  This was on dry straight road.
 Rest of my trip to Maine from RI, just passed cars in 6th gear with no fan
fare.

                       . last week was getting on 195 near Providence, and
was accelerating moderately   in 4th gear at around 55-60 mph, driving more
spirited than say a Camry driver, but not going all out either.  Road
conditions were perfect, dry sunny day.  Again, the ESP light came on and
off, along with the brakes.   *Not* experiencing going into limp mode after
this.

                       .  It is really disconcerting to have this unexpected
behavior.

                           Like probably most of you, I have been aggressive
off the line, only to have the ESP/traction control come on, and feeling
very silly as that Acura TL blows you away.  This is not the case with what
has been happening on the highway on occasion.

                        . I did get the speed sensor wet when I was stupidly
cleaning the engine, and it caused a problem with the reading on the
speedometer, but was dried off, and new o-ring was installed,   Could it
possibly be the speed sensor, but everything has been running excellent
accept for this very intermittent problem.

                         Any suggestion would be appreciated.