My ESA stopped adjusting my preload last month. Today I brought my RS in for the 18K service (one hour labor) and fork oil change (2 hours labor). At that time I asked the shop to fix the ESA preload system. They performed a "calibration" of the system for a labor charge of $26 USD, which I figure is about 12 minutes. Now it is working again.
I should also add that I was impressed that for the first time servicing my RS the technician didn't overfill the oil sump. I can actually see the level today. It only took three years for the shop to finally get that figured out.
Current motorcycle collection: 2002 Yamaha FZ1; 2005 Triumph Bonneville T-100; 2011 Royal Enfield Bullet 500; 2009 BMW F650GS; 2016 BMW R1200RS; 2011 Zero S 16.6 kWh