2000 ml320 w163.
code
c1141 brake pressure sensor b34
c1207 brake light switch
can not shift out of parking.
i clear all code, then restart vehicle, bas, esp light came right back.

 

Did you replace the brake light switch? It is a very simple DIY and these fail very frequently. The switch is located rigt under the brake pedal assembly (obviously). Remove two screws securing the panel above the drivers side footwell (under the dash). Then observe the new switch and remove the old one logically.

To reset the ESP BAS light, turn the steering wheel while the engine is running all the way to the left and then all the way to the right!