To diagnose this properly you need a scanner that is more powerful than your average OBD2 scanner (iCarSoft, Autel, etc.) Without it, you won't be able to determine which sensor has failed. To access the sensors you need to remove the rear bumper, which isn't a difficult task. You can, perhaps, bring the vehicle to an independent Mercedes specialist, and they may be able to read the codes for you and tell you which sensor(s) need replacement. I'm not certain if you need to code the new sensor to the vehicle or if you can just plug and play, but my guess is that it will need to be programmed to the the SAM. In the end, it's probably best to bring it to an independent specialist and have them do the job, unless you have the tools to do it already.