I have a 2001 ML320 that is giving me a headache. The ESP BAS light keeps coming on everyday when I drive to work as I go around a specific corner (car is at about 60 degrees at this point and I do brake). This makes it so that I cannot apply gas to the car to drive and I have to pull over and restart the car in order to keep driving. Other times this happens is when i am driving on the freeway at 60 mph and as i come off the freeway and slow the light will come on and i have to pull over to restart. The car desperately needed tires so I assumed that was the issue. Had them replaced and alas car was not fixed. Tried the Left to right "reset" and this did not work. Took my car to a Mercedes dealer and told them I had researched on the internet that everyone fixes the brake switch first but it's usually not the issue. His response was we'll find the problem the codes will tell us what to do. Sure enough he fixed the brake switch. I picked up the car and it came right on as i got off the freeway. Took it back to the dealer and all he did was clear out the code (which i am assuming they did last time w/the brake switch repair) and he asked that i pick up the car and drive it around to see if it's fixed. DO THEY NOT TEST DRIVE CARS ANYMORE??? The light will come on within 5 minutes if it isn't fixed. Anyways I'm venting at this point. PLEASE PLEASE help me with any ideas that have worked on your ML or a friends or anything. I want this over with!