EMehari Steering Vibration ESP Error

Sounds familiar. I've got a Citroen EMehari myself. Had similar issues, vibrating steering and all. Did you check the wheel alignment?

Wheel alignment? I was thinking it's more likely the angle sensor since I'm getting stability control warnings. But did the alignment fix your vibrations, or was it something else? How severe were your symptoms?

For me, realigning did the trick, but the symptoms were pretty mild. Given your ESP errors and heavy steering, it's probably the angle sensor needing replacement or recalibration. Better get it checked by a workshop.

I'll take your advice and go to the workshop. Seems like the angle sensor is indeed defective. They quoted me 195€ for the repair. Thanks!