I have an 02 ML500 with 94,000 on it, and I am having a few problems.

1. Occassionally, when I try to accelerate, the esp kicks in, makes the grinding noise, and sometimes prevents me from accelerating. Turning ESP off does nothing. I have new tires and the car is in alignment.
2. The wiper fluid light refuses to turn off, despite the wiper fluid being full. This could be for the rear wiper fluid, but I could not find a seperate tank.
3. The front windows occassionally will go up all the way then immediately go back down 2-3". It will take several tries to actually get the windows up.
4. My door panels are rusting for no apparent reason. I have a total of about 8 or 9 1/2" rust bubble spots around the car. They are not due to stone chips or anything, they just appear random. Will the dealer do anything about this, despite the car being well out of its standard warranty?
5. The car makes an abnormal whining noise when you turn the wheel within the first 30-90 seconds of a cold start. It sounds bad, I have no clue what it is.

Any help would be appreciated, I am planning on a new car (maybe an 03 CL500 or S500) the first quarter of next year anyway), but I would like to get these problems solved.

 

My guess is:

2 - The wiper fluid sensor should be replaced,
3 - I have the same thing happen to me sometime. I don't think there's anything wrong with that, try holding the button for 3 seconds or so. It should stop.
5 - Check the steering fluid level. If it is low it will make such noise.