HELP with EBV, ABS, ESP Inoperative Diagnosis/ Rig Test



"EBV, ABS, ESP Inoperative Diagnosis/ Rig Test"
The car went on a limp mode and has been like this ever since, tried disconnecting the battery for a few hours, checked all the fuses, ran the XENTRY STAR Quick scan, got these errors (couldn't delete because the scanner kept telling me it couldn't read the ignition... never happened before...)


I would appreciate any help, I've googled this, speed sensors keep coming up, but is it normal that the car has completely bogged down?, because of an ESP fault?
Car is an ML63 with about 60k miles.
Please advice






I keep getting different errors, if it's not "TPMS INOPERATIVE", it's "PRE-SAFE INOPERATIVE" OR "HELP with EBV, ABS, ESP Inoperative Diagnosis/ Rig Test"... car is running fine, just getting these messages every day.
These are the messages I'm getting, this is the big one sort of speak:









