Look you are one of the first ones to show codes from a Snapon scanner. It is hard to know if it is truly compatible with a Crossfire. Your friend should clear all codes from your car completely then wait and see what happens after.

If your concern is the BAS/ESP light then it could be the steering angle sensor or the Yaw sensor. It is unlikely that both would be defective at the same time.

You probably need to get an aftermarket Mercedes scanner or someone close by to scan it with a DRB 3 emulator. If you post your location maybe someone will help you.