Mate, that sounds straight up like a battery issue to me. On a number of occasions when my GTI's battery was reconnected I'd see the ESP Error and steering lights on the dash (the steering light should go off after a few hundred metres of driving/steering once the car is able to calibrate/check the steering system). Ditto the ESP error. And 12.25v sounds far too low to me - I'd be expecting to see ~12.5+v from a battery when standing, and 13.7-14+ when idling.
Try a start with jumper leads and see how you go. If it comes good, I'd be in search of a new battery.
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