vw golf 56 plate esp light on?

My esp light came on soon after MOT. 38000 on clock. Had a test done on it, after husband stopped driving, dreaded code,P10543 abs brake sensor. Called vw oldham told me to bring it in for testing 96 pounds, asked if I could get goodwill due to known fault with vws, said they would see what customers services say.tried phoning them but keep getting on hold. Will keep persevering.