laguna 2006 check esp

hello boys. just bought a 2006 laguna 2.0T expression.
it has a check esp light on and the servicewrench,
it is always on.
150000km odo
it turns on directly. even if i dont move the brake or steeringwheel.

any ideas?

and also it clonks from the right rear area when driving over uneven roads..
what do i need to order? bushings? common problem maybe? guide available perhaps.

would be very thankful for some advice.
best wishes from sweden.

/ Dennis

laguna 2006 check esp