I have just had the traction control arms replaced on my 2001 C200K at an independent garage. After I had driven the car about 5 miles the ESP warning came up. I have taken it back to the garage and they put it on an OBD diagnostic machine which they claim says that it is a fault that only needs to be reset but they do not have the machine to do this. They also say that the work that they did would not have caused the fault. Could changing the traction control arms cause a fault in the ESP system.

 

I repalce a control arm and had the same proble firts trie to turn side side the steering wheel if this dosent work you might have to align the car these is how i solve the problem