ls67ss

i have a 06 ml350 4matic only codes are under ABS i cannot clear them they stay.it has codes 5752 yaw rate sensor,6001 volt low,7222 can signal n15/3 ,5420 can fault,7223 n15/3 etc ,5399 gear implausable ,5136 rht rear speed sensor ,5116 rht front speed sensor and 5170 steering angle .so i replaced both front and rear right side abs speed sensors no change(i only changed sensors since my last ml350 had esp light on and a list of 10 codes and it was a speed sensor) any ideas