I have a couple of issues with my 2000 ml320 163. around a month ago the esp light came on and stayed on. a few weeks ago the car tried to lock up when turning out of a gas station. after searching here I ordered a lateral sensor and after changing it and putting the car back together the light was on and went out after resetting it by turning the wheel both ways. the light stayed out for around 300 miles. this morning I got in the car and the light stayed on. can you guys point me in the direction to go next.