hy there i had the same problem with limp mode . and the same bas epc esp problem .on the right were are the fuse check an clean with contact spray .in my case one fuse from the abs module was ok but i find something like wet salt, after the cleaning .every thing was ok . no problems with nothing this on s320 from 2005 .but you may try to see if you can fix the problem .have a nice day.