2007 Mercedes-Benz E350 Questions

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Synthetic oil change and reset computer
2 NEW TRIES DUE RUN OFF ROAD REPAIR SHOP-wOODLANDS cARE cARE
I turned it off and turned it on again, and the code above did not display. Something similar happened once before with the first geat, but I did not get the ESP code. What is the issue?
if i turn the key to position 2 and wate from 3 to 5 seconds it will start normaly i noticed there is a delay time until all instrument will light i mean the temperature & tang signes i hope i gave enogh details
All dash lights are on before I put the key in the ignition. I got a buzzing sound when I try to start car. Battery is fine and fully charged. Did this once before but later started right up without further problems...
Has hard shifting from 1st to 2nd and also when giving a lot of gas, it shifts to 7th gear after i let off the gas the car shifts down rough.
There are no codes. However if you turn off motor an turn it back on the car will run normal. It does it periodically
I'm hearing a strang noise similar to styrofoam rubbing together, I think it might be worn control arm bushings. Doesn't happen all the time but heard it more than once
When i try to start the car, all the lights will come on, AC is fine, Music is playing which tells me the battery is fine, but it will not crank
I had a wheel alignment, brake replacement, and frontwheel bearing replaced. After the repairs the ABS light comes on when driving and stays on. What is the cause??