2005 car.
I have this issue:
First time I was in stop/start traffic, car gave a little lurch then the engine, ESP and skid lights came on. Car in limp mode. 2-3 secs of cranking to start, usually bursts into life immediately.
Got home left car for few hours. Tried to start car, started straight away with smooth idle. Engine light still on but ESP and skid lights off. Car drives as it should.
Took to my Zed specialist he said CP0340 (camshaft position sensor, passenger side) but could be many things from Flywheel to stretched timing chain to crankshaft position sensor (99,800mls). Cleared codes. Drove home fine. Went out later, very light traffic and same issue as before but car stalled this time at traffic lights as I was setting off.
Heat related? I'm hoping it is and just the sensor like Mack. Ben at Emperor Garage has ordered OEM part and will fit. Will post on what happens.