I have a 2000 ML320 with the bas/esp, ets, srs, and check engine lights on and have read several threads concerning these lights and have already changed the brake switch which did not eliminate the bas/esp and ets problem. I might add that the cruise control does not work. The dealer states that I need a sensor that is in the brake booster but will have to purchase new booster at $632 as sensor does not come separate. They also stated that I would need a steering angle sensor in which the whole steering column would need to be replaced at $411. My questions are as follows :

1. Is there a sensor available without the purchase of the booster? If so where would I find one?
2. Is there a way to change the steering angle sensor without changing the entire steering column?


I had the following codes appear during diagnostics. I hope they can help determine the problems.

ETC - 118,119,120,121,134,137,147 - all stored
ESM - P1876,P1861,P1860 - all stored
ME2-SFI - P1584,P0140 - current and stored
ESP - C1140-010, 1140-008 C1141,C1529 - current
ESP - C1100-016,C1101-016,C1102-003,C1103-003,C1200,C1401,C1314,C1022,C1032,C1030,C114,C1112 0,C1211 stored
ESP - C1140-010,007,009,006,016 - stored
BAS - C1025-002,C1204-001 stored and C1332-003 current
AB - B1869-005, B1869-004 stored
EAM - B1041,B1040,B1089,B1088,B1367 - stored
AAM - B1040-001,000,002,004 and B1784-001 - stored
DAS - B1703-001,B1703-000 - stored
ICM - B1041,B1042,B1089 - stored
MCS - N1112 stored

Thanks in advance as any help with the above matters would be greatly appreciated.