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Q: What causes my BAS/ESP light to come on? Is it an expensive fix? on 2000 Mercedes-Benz C230

BAS/ESP warning light stays sometimes.Is it something I need to fix right away.Will It cause my car to fail the annual safety and emmission inspection?
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I got lucky. The man never knew when he gave me the new Safety Check, as he stood outside and asked me to read him the mileage, turn on the signals, windshield wiper, and brake... For two years now, whenever my BAS-ESP light was on, I would turn my steering wheel all the way left, then all the way right, then shut off the engine for a few minutes. Then I turned the engine back on, and the BAS-ESP light usually was gone, until recently, that trick would not work any more. Now it stays on permanently. Three weeks ago, my car was hooked up to a analyzer in a shop, and I was told it is the electrical gadgets from inside of the steering wheel, and it will cost $700 to $800 to fix. I don't have enough money to fix it. The mechanic told me to keep on driving and don't worry about that. Now, even with the BAS-ESP light on, it still runs fine, but I am a little worry. I bought this 2000 Mercedes-Benz Kompressor three years ago for $5000.00 when it was 54000 miles. Now, it has 77000 miles and so far, it has costed me $6000.00 more to repair. I'm losing my interest in "Mercedes-Benz" and I don't like Janis-Joplin any more.
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