The SRS light warns for a system malfunction. It could be for hundreds of different reason. First you need to get a proper computer diagnostic preferably from a MB specialty shop or the dealer. Based on their results they will be able to prepare an estimate.
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RepairPal Certified shops can diagnose and repair your 2006 Mercedes-Benz E350. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.