the esp cant control the torque on your engine as your in limp mode so forget about it as it will disapear when you sort the fault out. the cruse control wont work because the esp wont let it because again it cant control the torque. Sounds to me like you need the fap side of your car sorting either dpf cleaned or changed as after a drive the depollution fault goes of as its started regenerating.but cant complete the cycle. using a diagnostic go to particle filter > data > then check the soot loading and last regeneration