ABS, little tire , and ESP are on on 2005 Dodge Sprinter 2500

About 3 mo. ago the ABS, ESP, and little tire lights came on and couldn't get van out of Park . Had to turn on and off several times before lights go out and van functions normally? this has been going on
now daily maybe once or twice a day . I changed out front and rear pads but it kept happening? 3 wk.
ago the cruise control would not function at times either . Now it happens more frequently? However , today I had the front lower ball joints replaced and the lights will not go off which of course affects braking and handling? I drive for FedEx with this van with 216,000mi. ? What is the problem , can I fix
it?

1 answer 1 comment
i have the same problem with my 2008 sprinter except it comes out of park but it doesnt shift, is this a common problem with these vans? how do i fix this? the same lights are on the ESP, ABS and tire.....
make sure the wheel speed sensor is pushed all the way in. on sprinters, you need to push it all the way in, and it self adjusts as you drive.