Firstml320

Hello everyone, I just purschased my first ml320 (2000) about 3 months ago, i replaced the wheels with a bigger size and it seems like since i did that my bas esp has been coming on. I did a search and most people say it could the brake switch, i just replaced that and still same problem. Could putting 20" wheels cause the wheel sensors to trigger the bas esp light and where are the wheel sensors located?I am going to put back the stock wheels to see if anything improves. Any ideas anyone?
Thanks
Mike

Firstml320

Update, Its not the wheels, put back stock ones and still same problem, it happens alot when turning the triangle comes on and makes a grunting noise.

Militant-Grunt

BAS ESP warning lights will come on when your brakes are worn, id check your rotors and pads.. the yellow caution triange is ESP.