Thank you!

Gathered this much so far..."The Yaw Rate Sensor is located near the shifter assembly and the center console must be removed. But you must be careful here, up to VIN #371934, there are two different sensors, a Yaw Rate Sensor and a Lateral Acceleration Sensor. As of VIN #371935 there is only one where they comprised both into one Yaw Rate/Lateral Accel. Sensor.

With that said, it is advisable to consider the fact that what worked for one, does not mean it will work for you. These are not cheap parts to buy, and after doing so and installing it, it might not remedy the situation. Most of these problems can be corrected by disconnecting the neg. battery cable.

Just to update this thread, I am a mechanic here in New York, I have a customers car which is a 2000 Ml320. They brought the truck to me cuz the brakes would ingauge for no reason. After scanning the car with my Launch X431 it cam up with c1120 (Rotary stored speed and lateral acceleration sensor): Signal cable has open circuit or short circuit. After a little research I replaced the yaw sensor (which is located in the center console under the window switches) and the problem was gone but with a little twist. It would not lock the brakes anymore but from time to time the bas light would come on.
After inspecting the vehicle I noticed a broken wire in the rear of the truck on the passenger side right above the axle. Now, I am not sure what this wire is for. The end of the wire has no connection (looks like it broke off) and there is nothing in the back that is missing a plug. There are three wires in the loom and it was constantly rubbing on the axle. I believe this is what was causing the BAS light to come on. Since tapping up the wires the light has not come back on. So for anyone having this problem I would sujest you make sure no wires are broken or touching anywhere. "