I have a 2013 Gs1200lc and also appear to have an ESA problem.
The suspension adjusts at the start of the run with me two up so showing two helmets, I can feel the bike getting taller as thos happens. All good so far but, laternim the day, after a few stops, the suspension appears to re-adjust when I start the bike and the bike drops in height. The warning symbol for ESA shows in the dash but, if I leave the bike overnight, everything appears fine again umtil the next time.
I will investigate further before visiting a dealer but getting concerned that this is a serious problem