You have to think about the kinds of faults that would cause rough running, compared to the kinds of faults that would stop the car dead in its tracks..
Very little will actually make it feel like it just turned off..
Fuel pump problem will lead to low fuel pressure, it will stutter and die fairly slowly (over a few seconds), a localised HT problem will cause rough running. Does your laguna have a coil pack on each cylinder or a a single coil and a distributor?
As a point of interest, I have a Sierra with EFI. Its recently been misbehaving. cutting out, stopping, not restarting.. only to start and drive fine for the next 100 miles 10 minutes later.
I found the problem in the end.. the connector for the crank position sensor (positioned under the oil filter - brilliant!) was full of oil, dirt and other cr@p. Cleaned that out and its been good as gold since. Some people would have scrapped it with that problem, as it was not obvious to find. Nothing came up on the ECU fault codes as with the Crank position sensor dropping out the ECU just believed the engine was not rotating and was therefore not fueling or sparking...
The lesson is dont discount the obvious. Have each connector off everything, carefully inspect for any wiring damage and clean out each connector with some contact cleaner.
Particularly if your car is dirty under the bonnet. Its not age that makes an old car electrically unreliable, its dirt that collects more dirt and moisture that does it!
If the ESP light is on what does this mean? What sensors does the ESP use? wheelspeeds, yaw, and an engine speed perhaps so it knows what gear your in and therefore has a better idea of torque to the wheels from engine speed, throttle opening and MAP..? I dont know how advanced ESP was on a 2001 laguna.
A poorly spark plug or injector will only effect one cylinder and so the car would continue to run, allbeit badly.
Best of luck.