Good day, after the engine started to jerk, it was time to clean the AGR valve of my boxer diesel. It was really messed up. After that, it ran fine. A day later, the engine malfunction lamp and the ESP lamp went on! But the engine runs without problems!! When I looked yesterday, AGR is clean, but axle cuff left inside is torn and loses fat. Could THAT also be the cause of burning the ESP lamp and engine disturbance lamp? Would for prompt feedback from the Subaru diesel drivers drive gratefully.