ESP AND ABS LIGHTS ON
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SL55, C63
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ck430 2002
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CLK430, SC430, RX330
Are those the only lights on or is your check engine on as well?
Last year, my instrument panel lit up like a christmas tree, and my car went into limp mode. A transmission flush fixed everything.
I believe the last post telling you to do a search is suggesting that you have a stop lamp switch failure which is a common cause of the ESP and ABS lights coming on. IF the only symptoms are ESP and ABS lights, I would suggest replacing the stop lamp switch as well. Easy DIY and only $15 part from the stealership.