I have a 2004 ML350 and the BAS, ETS, ABS yellow and red brake lights flash and beep as soon as you turn the car on. I have the following codes: p0720, c1020, c1046, c1045, c1026, c1022.

I checked the fuses and swapped the k12 relay - no help. I pulled the connector from the ESP module and it was clean with no corrosion. The car is in limp mode. Pushing the ESP button has no effect.

I have alldatadiy but can't find any troubleshooting for chassis codes. Any help would be appreciated.