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esp abs bas lights on dash on 2002 Mercedes-Benz CL500

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I have a 2002 cl500 cruise control has stopped working and when i drive for two or three miles esp bas abs visit workshop lights up on the dash i have already replaced the brake light switch at the pedal any suggestions greatfully appreciated.......
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after replacing the brake light switch you must clear all the codes and reset adaptation. will not recognize the new
switch until this is done.
This is just a simple pedal brake light switch i cleared all the codes that showed can communication intermittent with brake light switch does it really need adaption for such a simple switch....