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what does the Bas/Esp light mean and what do i do on 2005 Mercedes-Benz ML350

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
baught it this way dont know much about it
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my scanner shows codes po 121 po161 po 400 po 141 it doesnt throttle up untill peddle is 1/4 way down then races up to high rpm
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po121 n/a in all data po161 left 02 sensor heater issues po400 egr issues po141 rt o2 heater issues. seek proper diag and repair as this will get exp if you start repl parts at will
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