~ Oh Goodie !!! I get to join this thread...same issue...all of a sudden, I happen to look down at the dash and the BAS/ESP light , CEL , and the ABS liht are all on..I had only driven a half mile at no more than 35mph, no potholes were hit, but I did try to set the cruise control and noticed that it engaged, for a block or so, then disengaged and the lights came on. I turned around and headed back home to put it on the Autel...SLK 32AMG settings and scanned it. The result said rear left wheel speed sensor. I cleared the codes, the CEL went off, the BAS/ESP stayed on. I did the left /right full steering wheel turn and the light continued to stay on. I suppose, I'll jack it up tomorrow and inspect the wheel sensor....if I can locate it...wipe it, clean it..etc....this is on the Rescued SSB SRT . Fixin to turn 114,000miles on it...runs and looks great.