I have a CLK 430 and my ABS/ BAS ESP light keeps coming on. I have read many forums regarding this topic and have just about everything I can imagine on my car. The light comes on only when I'm driving for about 15- 20mins into the highway and doesn't turn off until I turn my car off again. Once I turn my car back on the light goes away. I have replaced all my ABS Sensors, brake light switch, ABS Hydraulic Pump, Valve Body, input and out speed sensors above the valve body......and nothing. I don't know what else to do. Can anyone help me? I feel like blowing the car up. Its frustrating!