One thing that will cause a simultaneous activation of the ABS/SRS light is a weak voltage regulator or the worn brushes in it.
Not sure about the 2.3, but on the bottom side of my alt. is the VR. Two philips-head screws that are about 1.5-2.0 in. apart come out. The VR slips out and the new one goes right back in - very easy to do. New brushes on a new VR are .5 in. long. Pull your VR and see how long the brushes are.
The VR's are likely available from a local MB indy supplier - think I paid $35 for a new Bosch VR that had same part number as what came off car.
I find drive-up ramps help provide access to the bottom of the alt.