Brake warning lights come on and it goes into limp mode and stays in the one gear

What is your question?

Driving along and all brake lights come on after an alarm goes off the car stays in the gear it was in when this accurs , I have to turn car off and then on , and then dose again latter on .

What makes this problem better or worse?

Nothing

How long has your 2000 Mercedes-Benz ML320 had this problem?

Eight months