I have a 2001 E430 Sport. After turning my headlights on, I get a slight hesitation when I accelerate. After accelerating, the ABS/BAS/ESP light come on. Once the ABS/BAS/ESP lights come on, my cruse control and traction control does not work. Also, my rear window brake light stays on when the ABS/BAS/ESP lights come on. The light is on even when I am not applying the brakes. My mechanic has replaced the brake light switch and the ABS sensors. The issue is still present. Any ideas what the problem could be?

Try pulling the left and right brake tail light sockets and see if the problem still exists. I'm wondering if the tail light wiring is somehow crossing over to the brake light wiring and feeding voltage into the brake light system when you turn on the lights. This may be causing your strange problems.

Thanks for your response. The mechanic replaced the drivers side tail light. He said the circuit board was bad. He also replaced the headlight wiring as they were burnt as well.

Those tail light sockets or circuit boards and headlight bulb connections do go bad. I just replaced my headlight wiring on one side that was burned up.