primrrd

Howdy all,
I am long time lurker, first time poster.
It is not uncommon at all for me to have an issue on the ML320 and come here for great answers and tech on a lot of different issues.
I have used y'alls posts to help me with all sorts of maintenance stuff, changing the brakes and brake pad sensors, trans fluid, issues with a leak at the timeing chain inspection cover, changing motor mounts, etc.
I appreciate all of the seasoned advice.

I have a 99 ML320 with 180k easy miles. 2nd owner to my brother who had it first and cared for it very well.

I am currently in a pickle... my wife is stuck over 200 miles from home with the car stuck in limp mode.
This happened when she "floored it" to pass another vehicle.
(it had happened to me months ago when i decided to run it through the gears in the gated side of the shifter... but simply stopping and restarting fixed it, along with a check light that went out after about 100 miles or so)
Presently she has had help disconnecting the battery, letting the car sit for 5 minutes or more, but it is not resetting the limp. she said that each time she unhooked the battery and hooked it back up the check engine light was off , but popped again as soon as she got about 40mph.
the BAS/ESP light is on. (first time on to my knowlege)
Fortunately she is safe, and I am arranging to fetch them with my dad's truck with a uhaul trailer in the morning.

2 questions:
- any advice on what may be happening and how to get it out of limp for a drive back to Houston
- and -
- any advice on a trustworthy /fair independent MB Specialist Shop in the South East Houston area? ( i live in the Clear Lake area)

primrrd

i was surfing issues and came accross my first post.
- the issue was broken catalytic converters plugging the exhaust
car working fine after addressing the plug. 195k and counting!