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Lexia faults on Xsara picasso 1.6 HDi

Hello all, History of faults in the last 2 years are:-
1) Back in October had message on dash "ASR/ESP error detected - ESP deactivated" along with ESP (not ABS) light on. It came on twice, went off when engine restarted. At time went to local garage, who plugged his laptop in. It showed fault of Brake pedal Switch/Hydraulic brake pressure". He replaced brake switch and all was OK.
2) Around Feb this year had noise from injector, and had injector seal replaced at a Citroen specialist. Car OK.
CURRENT FAULT:
Went on holiday 2 weeks, drove car home and noticed slight hesitation when driving at consistant speed (almost like a petrol with damp ignition). This was followed by the ASR/ESP light coming on, and same message as fault 1 above. It did this a few times, then no more ASR/ESP light, but hardly any power from car. Then Engine light came on instead, with unhelpful "Engine Fault" message on dash. This stayed on for 1 week, but car ran a bit better with the engine light on.
I ordered a copy of Lexia 3/Diagbox, and in the week it has taken to set up software (very difficult - it will only run on XP) , I have had a week without engine light on and car running seemingly perfectly.
I did global scan today on Lexia and all ECU's showed no fault (including ABS and Braking) EXCEPT:
Injection ECU showed "Temp fault: Electric EGR valve position copy signal stuck during programming. Temp fault: Electric EGR valve position copy signal voltage too low. Remote fault: CAN communications torque information invalid". I cleared all faults and ran engine, then did another global scan and no errors shown. Any help at all is welcome please. I did all actuator tests on Lexia, could hear the Turbo ticking, Fuel pump clicking, but could hear nothing when I tried the EGR actuator test. However, it did show no faults when I rescanned after doing this and running the engine. Any ideas what the te,porary faults are pointing towards given the symptoms? I did read on net that engine problems can lead to the ARS/ESP message coming up when there is not a problem with that system - but then you can find every different answer on the net - all contradicting each other. I will scan again after 1 more week of driving and see what comes up, but any heads up would be great. Thanks.

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