Q: abs, esp light steering is though transmission stays in the first gear. on 2006 Mercedes-Benz CLS500

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I had a starting problem at first, the car was cranking but it wouldnt start. I left it for 5 minutes and then it was back to normal. I then called my mechanic an got an appoitment to take the car. the day I wanted to take the car as soon as I started the car the abs esp lights came on and I still tried to move the car when I felt the steering was though and I figured the transmission was not shifting. I had to tow the car and my mechanic could not figure it out yet. I know that every thing must be related. He changed some crank sensor for starting problem but he complains the computer does not reply.
Please help me.
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