abs, esp light steering is though transmission stays in the first gear. on 2006 Mercedes-Benz CLS500

I had a starting problem at first, the car was cranking but it wouldnt start. I left it for 5 minutes and then it was back to normal. I then called my mechanic an got an appoitment to take the car. the day I wanted to take the car as soon as I started the car the abs esp lights came on and I still tried to move the car when I felt the steering was though and I figured the transmission was not shifting. I had to tow the car and my mechanic could not figure it out yet. I know that every thing must be related. He changed some crank sensor for starting problem but he complains the computer does not reply.
Please help me.

Asked by for the 2006 Mercedes-Benz CLS500