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5103 it is not fauld code from CLIP (seems like from universal fault reader).
in CLIP it should show DF084 - transverse sensor signal circuit.
This is sensor under central console (near parking brake). If plug is ok then probably sensor needs to be replaced. (not ESP computer). New sensor should be calibrated after replacement.
you can tell your mechanic to check:
sensor plug - track 1 - goes to track 6 of ESP electronic module
sensor plug - track 2 - goes to track 24 of ESP electronic module
sensor plug - track 3 - goes to track 26 of ESP electronic module
Currently in dstorm's garage:
Laguna Coupe 3.0V6 dci 241KM Initiale Paris 4WS