EPC light

Hello, I am new to this forum and have never really posted on one before so apologies if I am doing this wrong.

I own a 65 plate Skoda Yeti 1.2 TSI SE 5 Door DSG Petrol and yesterday the EPC light illuminated and it went into limp mode (5mph).

I stopped, turned off the ignition and restarted and the light cleared and back to normal. This issue repeated on the way back home.

I have a diagnostic tool and read the codes when I got home.

P213800

P019100

P334B00

P065300

I am not sure if all the codes were related to the EPC issue.

I cleared the codes and test run and all OK until tonight when exactly the same issue occurred with the same codes.

Has anyone had the same issue?

I would appreciate any advice on this matter or a point in the right direction as to route cause.

Cheers  Jon