2007 sl55 I am getting subject service code, says to check operation manual. Seems like it started while aux battery dead. Goes away after driving a few minutes. Any ideas what is going on and how to remedy?

After you disconnect and reconnect the rear battery you often have to reset the steering angle sensor. Just drive the car, or turn the wheel lock to lock to clear the warning.

Thank you, that is exactly what happened, after driving the esp code alert went away and stayed away.