Please help to diagnose the follow codes from icarsoft tool.
 

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Dirty wheel speed sensor. Remove, clean, reinstall.

Thanks but I did that already to the 2 front wheels and the fault codes still come up.

I also more recently replaced the brake lamp switch and the accelerator pedal thinking that was the problem, but no dice.

The car also came back from the dealer this week and they said the ESP module would need to be replaced, but I’m hoping they’re not right since all they did was check the wiring and fuzes before doing a hard reset on the ESP module, whatever that means.

Thanks for you help. Anything else I can do?

Maybe try replacing the wheel sensors instead of just cleaning them and see what happens.

The iCarsoft has a function were you can se the actual speed of each wheel. Use it to confirm if the speed sensors are working. I had the same codes and turned out to be a faulty speed sensor.

Thanks for the suggestion. I did try that and all 4 sensors were reading similar values during a cruise.

I had this same issue, and Mercedes Benz ended up being correct about the ESP module.. I tried replacing all 4 wheel speed sensors, and no dice... finally I gave in and purchased my own ESP module online for a fantastic price. Do NOT buy the module unless you tried everything else ;) good luck ....

Here is the Link for the ESP MODULE for $880- https://parts.mbofcovington.com/oem-...ule-1729008106 ..... and Mercedes Benz only charged me 1 hour of labor for install.

(for reference most people on this forum reported paying closer to $1400 JUST for the part)

Any idea loacation of ESP module?

It is part of the ABS unit, the box where all the brake lines connect under the hood.
#20 in the diagram https://nemigaparts.com/cat_spares/e...77/62p/42/064/
020 CONTROL UNIT
ELECTRONIC STABILITY PROGRAM 001 A 00 354 070 45 - $1 142.59
020 RS CONTROL UNIT
ELECTRONIC STABILITY PROGRAM 001 A 20 490 054 03 - $1 142.59

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I replace my sensors on the rear, but on my situation that did not fix my issue. I replace the ESP electronic stability control ABS Module. I bought on Ebay for $150. And now works perfect..But my rear sensors was nothing wrong with them....

https://www.ebay.com/itm/03-08-Merce...0AAOSwRUNfPv4L