Originally Posted by
onehundred80
Possibly the brake light switch is faulty, it is not definite that is is the reason.
The BAS/ESP light comes on for many reasons, many seemingly unrelated to the wheel speed sensors.
I guarantee that is the reason. Actually it is either the brake lights will not light up or the cruise control will not work. I learned this in the Mercedes forums. I've had to change mine more than a few times so I know from personal experience. If you have a good code reader it will also say stop lamp inoperable or something similar.