ML320
in the ignition for approx 10min. Reconnected and just started the vehicle wothout driving it now the BAS & ESP light is illuminated???

I forgot to mention, turn the steering wheel all the way to the left then all the way to the right (or vice versa) to reset the BAS & ESP lights. My 2 cents.

turn the vehicle to the left or right vica versa while the car is running?

the point here is to turn front wheels all the way both directions so car's electronics could "read out" both sides end positions through its sensors.
No need to turn the vehicle itself, but it might work since you would actually need to spin the steering wheel as mentioned above - all the way both directions

It's a lot easier if the truck is running.