Brake Assist Error: ESP Turns Off Repeatedly

Hello there...

"I've been having a problem with my G4 ALH, manufactured in 2000, where the ESP light occasionally illuminates after starting the engine. This usually happens when the vehicle has been parked for more than about 10 hours, or when the brake pedal is repeatedly pressed while the engine is not running, which depletes the vacuum in the brake booster. After a second engine start, the light then turns off. The diagnostic scan revealed error code 00814 035, which indicates a problem with the solenoid valve for the brake pressure sensor (N247). I had the brake booster replaced, but the problem persists."

Does anyone have experience with this?

Best regards,
Mathias