My wife was driving our ml 320 it is a 2002 with 141,000 miles.She claimed it came to a screatching Stop while driving.I drove the vehicle after work it ran with no issues.I have had a SRS light on for a few weeks due to the right passenger seat pad system sensing a weight.She won't drive the vehilcle and I have no other fault codes or lights on.The esp switch engauges and disengages with the yellow triangle.My local Mercedes dealer is not a good shop.Any help in this matter is appreciated it is over the Internet about the Yaw Rate sensor?