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 E430 Brake Light Switch Failure May Cause ESP/BAS Warning Lights
Mercedes-Benz E430 Problem
Average Mileage: 148,500 mi (97,000 mi - 200,000 mi)
Visitor, 2000 Mercedes-Benz E430, 200,000 mi
Brake light switch replaced 2times, on 2nd repair vehicle will not come out of Park!!!!
I purchased new brake light switch from dealer and a mechanic friend installed for me. Total cost was about $80.