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Why is the ESC light on my 2010 Mercedes C300 keep coming on? on 2010 Mercedes-Benz C300

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While I'm driving during exceleration the ESC light comes on and sometimes when I try to turn my car on it comes on and won't let me turn the car on.
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If you have 50,000 miles or less, the vehicle is under factory warranty (4 years or 50,000 miles) and the repair will be free. If you are over 50,000 miles, you will need to have someone who has the MB software (or a clone) scan it for you. Without a code, it cannot be diagnosed.