Regarding the ABS/BAS/ESP light, I hadn't been able to lift a code from mine for the last 3 years (5 garages and 1 specialist auto electrical company have tried) and I've attempted most things, apart from replacing the ABS unit. Cruise control works fine, brake light switch has been repalced, no fault code on wheel speed sensors and left-to-right steering reset doesn't resolve. By some strange luck/fate I recently managed to pull a code from my scanner (ICarsoft MB v.2) which inicates C1160 micromechanical yaw rate sensor AY pickup OR rotary speed and lateral acceleration sensor. I'm guessing these both refer to what we commonly know as the yaw rate sensor (located beneath and behind the shifter)? I had taken my vehicle to an established auto electrician approx. 12 months ago and they could not pull any code at all, however they did indicate that they had swapped out the yaw rate sensor for an alternative one (presumablly a second-hand one as there's a mercedes breakers nearby and I'd be surprised if they had a new one available to hand) just to see if this would solve the problem. The light remained on, however now that I have finally managed to pull this code from my OBDII scanner I think I'll try another yaw sensor again, just in case the one they installed as a test replacement was also a faulty unit. I'll let you know how I get on with this, as it's been quite a saga.