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 C32 AMG Brake Light Switch Failure May Cause ESP/BAS Warning Lights
Mercedes-Benz C32 AMG Problem
Visitor, 2002 Mercedes-Benz C32 AMG, 85,000 mi
Replaced Brake Light Switch about a year ago, now it is happening usually when I restart the car after I had run it for a while.