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Q: the car stalls, but able to restart., seperate problem esp light comes on on 2001 Mercedes-Benz E320

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it shows malfunction take to garage. goes into limp mode.at restart malfunction gone, but does it again after a few miles.the first thing i noticed before all this started that the back ceiling light does not always go off by itself esp problem 3 times., engine stall many times. but not together w/esp problem. HELP
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