Hello everyone, once again, I have many more questions to ask. Please help!!!!

Yesterday morning, when I started the car up, and the light is in automatic On/Off position. Once the car started, I began to drive and the light turned on and suddenly turned off. After driving down the highway, and took the off ramp(very very curvy off ramp,) all the sudden the messages display. The message #1 display "headlights is unavailable" and message #2 displayed "ESP malfunction" take it into the dealer for check up. Does this happen to anyone car before?

This is a Certified 2005 MB E500 and it is under warranty @ 36975 miles at this moment. And another question is on the menu button, I know about service A and B, but what is service F? It display I have 5099 before service F is due. And, does regular maintain cover under warranty like BMW or not? Regular maintain like 39,000 miles, and whatever services it needed will cover under warranty or not. Please explain? Thanks in advance. Happy new year to everyone.

 

Oh...I forgot to mention the light Bi-xenon front headlight.