The big difference is I never get a CEL for this. Never seen the dash lighting go or airbag light come on.
I would not be surprised if the ABS/ESP is a bit flaky, but I think he may have another electrical issue that is exacerbating the problems. My understanding is a bad charging system (cables, alternator, or battery) in these cars can cause a multitude of problems and I would look into that first.
After that, 90% of electrical problems are connector related. Cleaning connections like Doug did is great. I would also check the grounds in the car for corrosion and clean them up. I have an electrical engineering background - believe me most electrical problems are electromechanical (switches, connectors, pots etc) in nature, though in many cases it can be on circuit boards themselves so not easily end user-accessible.
Finally, though it is worth fixing, ABS going on it's own is not the end of the world... if it goes off while driving, use threshold braking technique rather than slam the brakes in a quick stop. We all used to have to do that prior to ABS being introduced into cars. Especially where the roads aren't icy this time of year the urgency to get the EPS module fixed is lessened a little
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