My S500 shows BAS visit workshop and ESP visit workshop, then will not let me shift out of Park. When I do get it into gear, everything works fine and message goes away but returns sometimes days later. Any suggestions? Thanks

 

possible stop lamp switch.

 

Sorry it has been so long, Christmas and everything. I just wanted to tell you that you were right on. I replaced the stop light switch, now everything is back to normal. Thank You Thank You Thank You