ML320 ESP/BAS light on with P0221 and P0700 fault codes
 

I had a problem while on vacation with my 2001 ML320. During the road trip, the ESP/BAS light came on. No biggie, I can live without those features and replace the brake lamp switch that plagues these cars from time to time. However, during the drive the throttle became unresponsive and I had to pull over to the side of the road and restart the car before the trans would engage drive. I continued on the drive until I reached my destination, all the while with the ESP/BAS light on. I noticed that when I would come to a stop, the light would usually come on, though restarting the car would reset the ESP/BAS light. I ordered a replacement brake lamp switch and replaced it but the ESP/BAS light still comes on and my scanner revealed P0221 and P0700 fault codes. The car ocassionally is very unresponsive and I suspect the throttle position sensor may have failed, but I am not sure why the P0700 code is coming up and wondering if that is the reason why the car is disengaging drive while driving on the road. Anyone experienced this combination of issues before? I am hoping it is only the TPS and not the transmission conductor plate. Appreciate everyone's inputs.

My local Indy has confirmed with SDS that he is getting a hard fault code for the yaw rate sensor. Wants $900 to put the new one in. I can get one for a fraction of the cost and install myself, though wanted to know this DIY would require programming of the new sensor to the car. Thanks in advance for the inputs.

I called two dealers to get the correct part number of the needed yaw rate sensor for my car and they provided the following p/n: A0035422318. I was about to place the order when I thought I would confirm the part number of the unit on the car and found the part # to be A163546340 Q02. I am able to find the part number they provided me, but I cannot find the part with the latter number anywhere. Anyone know if the number the dealer provided me superscedes this part number?

Firstly, that p/n is missing a digit.

Secondly, if the complete number ends in -40, then according to MB's parts numbering system, it is a bracket. You can't buy it separately - it's only available as an assembly with the yaw rate sensor.

P.S. If it's the same part as the old one, it shouldn't need coding. If it's a new version, it might.

Thank you!