Hi!
Was searching solutions for other problems with this constantly broken car and saw ur post. Wanted to reply, as I had this problem couple of months ago. For me the problem occurred mainly when reversing and especially on rainy days. Just felt like the hand break was on and would not let go.
The car was at the dealer for some time but finally they got a repair plan from the skoda factory. ABS/ESC unit had to be replaced... Cost for only the part was 2351€, labor 400€ in Finland.
My warranty had ended just few months ago. Luckily Skoda paid 100% for the new ABS/ESC unit and 50% for labor costs. Sadly it took almost 6 months to get the problem fixed.
Hope ur car has been fixed already. If not I hope this helps 👍🏼