Here is a listing of the DTCs. I assume the OP has an MB tool if they are reading the 3-digit codes and not P07xx codes. Unless I'm wrong and one of the 3rd party scanners can pull the legacy 3 digit fault codes from a W210.
STAR TekInfo
The codes referenced do seem to lead to a conductor plate speed sensor issue which is very common.
If OP is dropping the pan then might as well do a conductor plate and connector plug and fill with fresh fluid. Good chance this will solve the problem.
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The OM 642/722.9 powered family
Still going strong
2014 ML350 Bluetec (wife's DD)
2013 E350 Bluetec (my DD)
both my kids cars went to junkyard in 2023
2008 ML320 CDI (Older son’s DD) fatal transmission failure, water soaked/fried rear SAM, numerous other issues, just too far gone to save (165k miles)
2008 E320 Bluetec (Younger son's DD) injector failed open and diluted oil with diesel, spun main bearings (240k miles)
1998 E300DT sold to TimFreeh
1987 300TD sold to vstech
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