There is no such thing as a wheel alignment sensor what you are asking about is a steering angle sensor BUT its not likely to be faulty it may need calibrated.
The U codes are communication errors no fault codes as such
ESP light is on because of the issue what has been done to the car i recon you have had a steering rack done or track rod ends fitted tracking done badly any of these can cause it but there are many reasons so its best to give the full symptoms to get the right advice.
Thanks for your reply
The car was sitting on the drive for a year I've had no track rod ends fitted do you think it's worth getting the tracking checked 1st and then the calibration? If so how much would these cost approximately?
Thanks for your help ?