2000 ml430 steering issue with bas/esp light on
 

Hello, I have a 2000 ml430 that I'm having issues with the steering. My ABS kicks in everytime i turn, most of the time turning left. I also noticed that my BAS/ESP light comes on and disappears if i turn off the engine.
Before I send it to the shop i would like to know if anybody has seen this issue and what could be causing this problem. Is this repair expensive?

Thanks a million

You won't like this but it may be the steering wheel position sensor which is integral to the steering column. Expensive job if that is what is wrong. I've had it done and I got a deal at about $800 since my mechanic is a friend of mine.
Shaun