Seems kind of hefty for just changing 4x solenoids. But I guess it is what is it. Was this dealer or indy shop?

It's an indy shop. They said it's not very hard to do but it's time consuming, lots of stuffs must be removed to get the job done, especially the driver side. I will try to get another quote. Just wondering if any forum member has done this.

Hello All! Reviving this thread as it appears my 2012 CLS550 has the same issue. The info in the post was very helpful and I've replaced all four sensors, cleaned the vehicle connectors and check the ECU and it was dry. What have you guys done to clear the code? Just disconnect the battery or use your scanner?

Appreciate all the great info on this site and don't believe I've seen this question asked or it noted.

Thanks in advance!

Don't disconnect the battery on this vehicle, you'll be adding a whole mess of issues if you do. Even battery swaps require you to keep the electrical system constantly connected to a power source.

Use a scanner to do the reset. I have a cheap $10 china ODBII Bluetooth adapter that pairs with an app on your smartphone and am able to access the system and complete the resets with that.