Yes, unfortunately this doesn't clear the lights from the dash.

The car failed MOT on the ABS and ESP lights on the dash. They had a code for rear offside ABS sensor fault, fitted new sensor and cleared the fault but the lights still remain on the dash. The car then spent 2 days at another garage - they too couldn't clear the faults with their scanners.
I've since taken the vehicle to a well established diagnostics/auto-electric company, who also cannot find any faults on the vehicle or any codes (yet the lights still remain). They did however very kindly and at no cost swap out the yaw angle sensor with a replacement just to test, and as such this has enabled me to eastablish that it probably isn't a yaw issue.

Upon contacting two Mercedes dealerships they've both responded with the information that their Star diagnostics system cannot fully communicate with all the XF modules. One replied that they have tried a few XF's in the past with no joy.

I've had the car for 15 years (42K miles), maintained it meticulously, yet haven't been able to drive it for six weeks since failing MOT as nobody seems to be able to diagnose the problem.

As Chrysler UK is now owned by Fiat and the XF is an older vehicle, I've heard many owners indicate that Fiat will not get involved with this vehicle, and don't have the required diagnostics equipment. I'm really at a loss as to where to go from here.
Any ideas from any forum members would be greatly appreciated.