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If you see oil in the ESC, it's too late and unfortunately you'll need to have it changed. I just had this done about 3 weeks ago, you'll have to replace the valve cover gaskets/bolts while you're at it. This fixed some pretty bad idle surgings I had as well as the automatic transmission shifting weirdly.
I cleaned my vanos solenoids just this past weekend, for me it helped smooth the idle out a bit. Others have reported it helping with hesitations at certain RPMs as well. This one doesn't cost anything and is easy and simple to do, so it's definitely worth a shot.
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