I seem to intermittently be getting the abs, esp and tyre pressure warning lights lighting up. they disappear after i stop and the ignition is switched off then on again. i'm presuming this is a faulty sensor rather than the esp module (when this went on my touran the esp light stayed on permanently)

 

is there any easy way to find out the exact cause and if it is a sensor, which one?

 

I'd wager it's one of the speed sensors as all those systems rely on those.

If it was me I'd grab a £5 Bluetooth obd module off eBay and read the fault codes with your phone

Or find someone local with vcds. Check out the members map in the vcds section.