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Ive got the same fault on mine "esp failed" took it to Holden dealer and they checked it with diagnostic thingie and saying its the "Yaw sensor" $2500.00 for the part and another $1500.00 to fit it .....seems a tad extreme can ya throw any light on this.

Ive just bought my CX6 runs beauty and done 400k over the weekend with a bit of a load got 12.2litres per hundy Im pretty happy with that and running 96 octane gas incidentally the trip was mostly windy roads up the Coromandel, most impressed with the cars performance and its done 190000ks