I don't know about the esp unless there's some kind of steering sensor so it knows the wheel is turned which gets affected with alignment but in my experience it's probably crap right enough. I got alignment done and they burst the rack boot, took out the rack and the power steering pump because dirty water got in so I don't have much faith in them personally.
ESP is not need to reset after wheel Alignment
If you remove the driving wheel for any reason like me to replace the dash
You should be very careful to put the sensor on the same position
If you do not put it right vag tool will give you a error and you should turned right or left
But I never reset ESP sensor after Alignment
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