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Q:

EPC and ESP lights on. No forward or reverse gears on 1996 Mercedes-Benz SL600

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
engine hard to start and sputters while running
(1) Answer
You have a speed sensor probably going down and are loosing a speed signal, this affects all of your faults, best to just plug the car into STAR and get a fault code read out.