The bas/esp light comes on and if I put it in Park I can't shift ml320 2003

What is your question?

I have to shut the truck off and restart it and then it will shift again and light will be off until I drive it again and the same thing happens. The scanner isn't picking up any codes and I don't want my mechanic changing parts unnecessarily. Can anyone help? Thanks

What makes this problem better or worse?

Worse the more I drive it

How long has your 2003 Mercedes-Benz ML320 had this problem?

About a month