Hello John and welcome to JA!!!
I'm Billy and i will answer your query.
First the ESP:
- the ESP warning light (service ESP system), is triggered since the ESP control module is detecting an error in the system. After that the warning should go off, and the ESP should function normally. There is a bulletin on this, and it suggests changing the ESP actuator assembly to fix this problem. You may check out the bulletin: http://suzukipitstopplus.com/Products/10239-ts-09-12090-grand-vitara-change-in-esp-actuator-assembly.aspx
As for the renault F9Q engine you have:
- It does sound a bit rough on cold starts, however, if the servicing (mainly oil and filter) is on regular intervals, and if you have no other engine problems, then you need not to worry about this.
PS: you may get the link, talk to your dealer about it (the ESP).