Recently my ABS and ESP lights came on accompanied by a strange problem. Sometimes when I start my 00' 230 and start to drive the speedometer stays at 0 and it will not shift out of first. If I pull over, shut it off, and restart it the lights stay on but my speedometer works and the car goes back to shifting regularly. Any ideas?

 

Sounds, like car might go into "limping mode"
Get a code reader. They sell them at Harbor Freight for $35. Don't know how good they are, but the price is good.

 

This will happen if one of the speed sensors is faulty.

 

O.K. now for my next question. Where is the speed sensor on the car, I know there are five (one on each wheel) where is the 5th? I brought it to my local garage and the mechanic had trouble finding it, dealer said it was on the diff. Really can't take it to a dealer b/c the nearest one is ~ 100 mi. and this thing can hardly make it across the street.