2002 glx erratic esp activation

Our 02 jetta is our daily driver, the esp activates at any speed, on dry pavement the dealer has looked and tried various remedies and potions, a vac hose was the latest "got it now" repair. The system put the car into the curb last week there was snow on the roadway. The latest cure is the yaw sensor for 1K to be replaced. Any thoughts?