Hi, I have seen a few similar threads, but here is my problem: my 2002 C240 has the ESP warning sign showing up randomly. It can be once a week, then it can be three times in 10 minutes. It only seems to happen when I drive very slow or am sitting at a corner. If it happens the engine keeps running but I can't drive. Obviously this is dangerous, especially when sitting at a corner or in slow traffic. I have to turn off engine and then restart car to get going.
Dealer did diagnosis. Recommended switching gas pedal (which didn't help). Then recommended "updating software" and getting rid of error codes. Didn't help either. Now recommends new transmission. Does anybody have any advice?

dont go to that dealership anymore?

find an indy that specializes in euro cars

brake lamp switch???

Do you know what code you had? If You took it to the dealer they should have a malfunction code. If you can provide that code we can help you out further. They must have scanned it with DAS. Try to get the malfunction code.

Where you located?

Codes were P 203B (Fault of Function Monitor in Electronic Accelerator), and Misfire Codes P2050, P2051, P2055, P2043, P2044, P2048, and P2053.

Located in Vegas.

Seven out of 12 misfire codes sounds like a limp battery. If it is the original, you got your money's worth in nine years. If it is a replacement, and not an OEM battery, you are under powered, and this can cause similar problems.

Is there any chance that the carpet or mat is interfering with the gas pedal? This can cause it not accurately report foot off the pedal.

For the ESP, sometimes the collar around the steering shaft behind the wheel becomes loose and rotates slightly when using the turn signal for example. This causes the clock spring to move, and the calibration for steering angle is lost, or it tugs on the connector for the clock spring causing a open sensor error.