Sounds like a fault with some component of the ESP.
I had same issue when a brake pressure sensor had a fault.
Error G201
I still had ABS but no traction control.
Couldn't switch off the ESP light.
Although in my case I didnt initially realise that the light was on because somebody had opened up the dials and covered the light!
It would be worth getting somebody to read the diagnostics to check what the fault is..
Hopefully its very straight forward.
If its a brake sensor issue I've heard of people getting Seat to cover the fix, even when out of warranty.