they codes are obvious--the ASR/ABS system is getting faulty data from the left and right rear wheels, and the computer is saying it is the Car Area Network causing the problem. Can be 'bad wiring', a loose connection,low battery voltage, a bad ground, faulty ABS computer, etc.

It will take some good diagnostic work to trace it down. Don't be lured into replacing expensive parts until all the connections (including all the ground points on the car) are checked and verified as sound. 99+% of these kinds of problems are faulty connections--due to the connector itself, (or failed wiring insulationon MBZ )