PO600 code
Event P2030 - [4] CAN message from control unit N15/5 (Electronic selector lever module control unit) or A80 (Intelligent servo module for DIRECT SELECT) is missing or faulty. Communication fault / See also CAN status in freeze frame data (P0600)
Event P2036 - [4] No or incorrect CAN message from control unit N47-5 (ESP control unit)
Communication fault / See also CAN status in freeze frame data (P0600)
Event P2037 - [4] No or incorrect CAN message from control unit N15/3 (ETC [EGS] control
unit) Communication fault / See also CAN status in freeze frame data (P0600)
Event P203E - [4] No CAN message from instrument cluster or message faulty.
Communication fault / See also CAN status in freeze frame data (P0600)
My guess is that the ESP module is going bad. (DTC P2036). You'd need a proper diagnosis with a tool that reads MBZ DTCs to know for sure. SDS can do that as well as a few other high-end tools. Those can also pull codes fromt he ESP module to see what's really going on.


