The ESP and BAS warning lights may illuminate due to a failed brake light switch. Replacement of the failed switch should correct this concern.
Car Problem Reports
Mercedes-Benz E55 AMG Brake Light Switch Failure May Cause ESP/BAS Warning Lights
Mercedes-Benz E55 AMG Problem
Visitor, 1999 Mercedes-Benz E55 AMG, 95,000 mi
Dummy light go thru the abs, esp sequence occasionally. Am also having intermittent lamp defective warning on readout. I believe it is from housing getting hot in tail light assembly and losing contact.