Having the same problem myself, exactly as described by beezo75, which has only started occurring since I changed the rears.
Was running Pirelli P-Zero Rossos all round (225/45 R18 on front; 245/45 R18 on rear; 2003 Rays alloys), and have now changed to Bridgestone Potenza RE050s on the rear. Fronts are around two thirds worn, so I'm guessing perhaps it's reason number 5 for me?! Mismatch between worn fronts to new rears?!
Also, do any of you more experienced guys know how the ESP works on the Z? Does it run from a gearbox output shaft speed sensor along with front wheel speed sensors (which would add weight to reason number 5), or does it run from all four wheel speed sensors (which would mean reason 5 is less likely, I think), or something else?!
Perhaps I'm thinking about this too much, but it's a weird problem and definitely not caused by excessively lairy driving!!
Thanks.