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I had same issue. As said above, something to do with the brake pedal switch. Doesn't actually seem to do a harm (ACR=ESP?)
As you said, I switch engine off and back on and no probelms. Even found you can do it on the fly - Into neutral, engine off, back on, into gear!
I'm sure its the ACR light, i'll take a pic of it next time it happens. Is this a seperate issue to the lights coming on because of something under the passenger seat ?
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.