I read the old thread for hours (5 to be exact)on this topic trying to find a course of action to take. The thread started jumping around a lot and it was difficult to go back and find recommendations for steps to follow, and in what order for my particular issues. I posted at the end of it a week ago so I figured I would just start over and try and keep this focused to solely the ABS/ESP issue. I understand it can be a variety of things but there are usuallt 4-5 main things that pop up. just did the brake switch replacement to a known functioning switch and no luck. When starting car it is fine for as long as it sits still (I can even move it back and forth in the drive until I move out of the drive and then it goes off. If I back out of the driveway and keep going backwards or put it in drive and start forwards it lights up. Seems to be an issue of time when it goes off. The code coming from the AC control is a B1422. I recently had the cluster rebuilt by BBA-Reman. Took the cluster out and checked the connections and all look good. Any thoughts of where to look next? this is the E420 sedan - also, cruise control works fine and so do the brake lights. With all the work I did on the car recently I had a run down on the battery but it seems to be fine now after driving for a while.