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It has a stalk like part with a ball on the end. This ball has to line up with the 'socket' on the main beam casing within the headlight. It is quite tricky but it will just click in if you can line them up without having to remove the headlight (which you may end up doing!)
The auto-adjustor clips in to the main headlight casing from the rear, it's possible this has been dislodged.
The manual adjustor is via a white allen key-bolt on the rear of the headlight but only ever do this with the engine running! ;)
Again, what's an ACR light? ESP is Electronic Stability Programme.
As for the under-seat issue, that's Airbag and Pretensioners so would bring up the Airbag light and Service light.
Welcome :)
The panel in question is clipped in a the top in two places. It simply slides forward as one piece. Do not try to pull it downwards as this will break the clips.
Pull it straight towards you and it should come out.