Since I have my car it had issues with the ESP Hill holder warnings.

In the winter it was the worst, but since it got warmer it did'n turn up that often anymore.
But the last couple of weeks it returned. Even with dry warm wether.

Things done so far:

Replaced the battery (froze to death), check today and it good.
Checked the sensors on all wheels, all clean.
Alteator has been bench tested and is OK.

So I'm running out of option.
But I do suspect one thing:

It mostely happens when I turn of my cruise control by tapping the brake pedal.
I tap it lightly as I only want to turn it of.
When I do it the error occurs.
I stuck my head under the dashboard expecting a sensor behind the pedal, but I could'nt find one.

I try to brake firmer/longer the last couple of day and it looks like that helps.

Is there a sensor near the brake pedal?
If so were to look and could this be the cause?

I found out Fiat has changed the sensor behind the brake pedal as the orginial ones could cause problems.
As I got my error even without the engine running only on contact I told the garage I wanted to have this fixed.
So the ordered a sensor and I left the car.
two days later I got it back.
It turned out the sensor is quite high above the brake pedal and hard to get to.
Also the old sensor was loose in it's casing.
This would explain the ESP errors when braking very lightly.

Hoping this is fixed now for good.