Well, the first thing I would do is resync the BAS ESP. To do this, while parked, start the car, turn the steering wheel as far to the right as you can and then as far to the left as you can and then back to center. Turn the car off for a minute and then restart the engine. See if the light doesn't go off. Chrysler dealers know very little about these cars since they are actually a 2004 Mercedese SLK 320.