I really think the alignment is an unrelated symptom. The reason I say that is because I once had someone back into my C240 and bet the lower control arm. Our local police will not allow private towing after an accident - they require the city to tow to the impound lot, then you have to pay to retrieve it with your private tow service. I didn't want to deal with all that, so I drive it two miles home. It was nearly impossible to steer and I have to stay under 10mph, but no ES warnings were triggered.
Is it possible that the wiring harness for the wheel speed sensor is damaged? I might break out the multimeter and test it. If not, I'd go for the pulse ring. But then again, it's odd to get an ESP error before you even start moving (the exception is a bad steering angle sensor calibration). What is the exact DTC that you get? I'll check SDS in case there are any other diagnostic steps to follow.
The alignment is a red herring, taken care of a long time ago
The DTC are basically:
U140A The right front wheel rpm signal sent from the traction system via the CAN bus is implausible.
P1425 Wheel speed signal implausible
Then the ESP control unit shuts off, and I get the malfunction warnings.
There are photos of the scanned messages a few posts back.
They can pop up while driving, while stopped, when starting up the car, and when cruising along a flat straight highway with cruise control on. They do seem to disappear right after restarting the car and moving about 99% of the time (I feel like once that didn't work), and that used to last, but lately it barely lasts a few kilometers.
At this point I'm at my wit's end. On one end it really strongly points to the ABS sensor/tone ring, but at the same time the way it gets triggered makes it seem like some fluke electrical issue. And it could also be the whole ESP control module...
One thing that happened today that was strange: when I got to work in the morning the malfunctions had appeared. I scanned with a cheap bluetooth-phone scanner and erased the codes. After work 8 hours later I drove away and the malfunctions didn't disappear (like they do when I erased the codes in the past). I pulled over, and the codes were back. It seemed as if they had returned while the car was sitting there shut off all day. Kinda how they do overnight...