2002 W209 270cdi ESP Driving test failure.

[1mmit3]

Hi. I was having a hard time with ABS and ESP. ABS is now working, but still having a problem with ESP. Steering wheel sensor is good, as well as wheel rotation sensors.
I did a diagnostic, checked ESP pump and single wheel brakes system that ESP module controlling, so it’s good as well.
Last hope is the gyroscope sensor in the back.
I did driving test, for a split second all malfunctions were gone, but came back with ESP defective. Fault code C1410. Any thoughts?

 

[mersum1es]

drive test is pretty tricky to pass

 

[1mmit3]

drive test is pretty tricky to pass

Yeah, I know, I did multiple attempts and once malfunctions were gone, but came back. Other times there was no result

 

[brandwooddixon]

Have you tried turning the steering to full lock in both directions to ensure that the steering angle limits are set?