rawdvm

I have an '04 CLK55 Cabriolet with Klee headers & 19" wheels. I did a dumb thing the other day (turned ESP off & during a power on oversteer turn to the right, I clipped a curb with the left rear wheel). It wasn't a hard hit, but still bent the lower control arm, tie rod & at least the camber/thrust arm. Plus, the steering angle sensor was affected & the steering wheel is canted 14 - 20 degrees to the left & I have an ESP malfunction.
The shop says that the rear subframe has to be dropped to replace the thrust/camber arm. My questions are these: 1) does the subframe have to be dropped to replace ANY of the "arms" & 2) what could the ESP malfunction be - speed sensor in wheel or something more?)
Thanks for your help.

Redw20855amg

Yes ESP Malfunction could be as simple as a wheel speed sensor, abs sensor or a break in a line. No subframe does not need dropped to replace an arm. If you want I can post a diagram of suspension from Mitchells Ondemand 5. Check out Autohausaz.com for parts there fairly priced...or genuinemercedesparts.com