The 'Vehicle lean when cornering' message came up a few months ago and boy, yes, whilst doing xxx mph the handling was certainly different. Anyway, stopped and restarted the car and all fine. Happened again this evening. The again on the way back.

Anyone else had this? It's a 2012 car. 

fluid level low due to leak from bar
or g-sensor (or wiring), or valve block pressure valve (or sensor)

if fluid level is correct - Fault read it