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I have a 2002 CLK430

As soon as the car cranks the BAS and ABS lights..Then after I drive for 100 ft the ESP light comes on..I have a Foxwell tester and got c1401 and c1000 codes..
Any suggestions on where to start? I did replace the brake switch but no change..Read a lot of forums and what worries me is a lot of " I replaced the motor and problem didn't go away :(
Read there is a relay that fails but nobody knows where it is

I was driving the other day and when I pulled out it spun while turning so I let off and the problem started..I have cleared all codes my tester will clear and left battery disconnected for a few hours..
Any suggestions?
 
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