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A200 cdi w169, The esp light came on and the problem is that it will not shift gears beyond 2.
I had the same issue, and the issue for me was that I had a bad battery and had to jump the battery. The ESP, BAS, and ABS lights came on and I could not drive above the 2nd gear.
Mine is Automatic by the way. But When you turn the Keyfob to 1st turn then put the car in Neutral. And turn your Hand Wheel ALL THE WAY to the LEFT and then to RIGHT and repeat about 2 times. Then turn off the vehicle and restart it to turn on the ignition. the error message disappeared and I was able to drive normally.
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