The ESP and BAS warning lights may illuminate due to a failed brake light switch. Replacement of the failed switch should correct this concern.Google+
Car Problem Reports
Mercedes-Benz E320 4MATIC Brake Light Switch Failure May Cause ESP/BAS Warning Lights
Mercedes-Benz E320 4MATIC Problem
Average Mileage: 121,000 mi (92,000 mi - 150,000 mi)
Visitor, 2000 Mercedes-Benz E320 4MATIC
Replaced the BLS and did the steering wheel left right thing all the lights went out but the BAS light then they all came back on yesterday back to the diag board
Visitor, 2000 Mercedes-Benz E320 4MATIC, 150,000 mi
had to replace the switch several times, aftermarket switches were bad 2 times.
Visitor, 1999 Mercedes-Benz E320 4MATIC, 92,000 mi
ABS ESP BAS warning lights on after starting when brake pedal is lifted. Not yet fixed.