My ABS light & ESP light came on at the same time, stopping my cruise control. on 2006 Mercedes-Benz R350

When I stopped and then started again the car would not go faster than 6 mph before the ABS brakes would come on grinding the car to a hault.This happened once before and it was a wheel sensor.At that time I managed to get the car in D2 and drove 35 mph to a garage.I can't remember how I got in D2. Any ideas. Regards Hammy2

Asked by for the 2006 Mercedes-Benz R350
scan codes and post so we can adv