2002 ML320 ESP/BAS lights , one wheel locks up
C1120:09 ESP Yaw Rate Sensor N64 or Sensor B24/15
C1101:10 RPM Sensor FR
C1210 Brake Fluid Indicator Switch S11
C1022:17 Fault in Can Communications with : ME N2/10
C1000:2E Control Module
C1140:08 Steering Angle sensor N49
C1527 ESP Control >10s,ESP is switched off
Code C1120 Yaw Rate is causing the locking up of the front wheel. Buy used from a junk yard and install.
If code C1000 ESP Module returns at any time, replace module with used one from a junk yard.
Codes must be cleared after replacing any component.


