Joemorales325

i have a w211 06 e350 4 matic with a m272 and after breaking hard, about 5 mins later my ABS light comes on along with little yellow marker, my steering became more stiff and i lost my electronic transmission (couldnt get out of first ) i had prior a BRAKE visit work shop message, along with ESP but i fixed ESP maulfunction due too tail light out, and my cruise control has not work, ??

could it be the ABS control unit thats bad ?
or speed wheel sensors?

any help would be great have a blessed one !!!!!