I have finally resolved to solve the BAS ESP ABS warning light issue that had been at first an intermittent issue and is now a full time error. I have checked the brake light switch, both sets of contacts close and open oppositely as the switch is depressed and released. I have tried the steering angle sensor reset maneuver of engine started and then lock-to-lock with the steering wheel. While doing this maneuver I noticed the BAS ESP ABS errors DO NOT occur UNTIL I move the steering wheel slightly. This leads me to believe the steering angle position sensor is at fault. WHERE is the sensor on this vehicle? Is there any way of trouble shooting it with a digital or analog VOM? Is there any trick to the replacement of this part? With the pedal cover removed to check the brake switch I see an aluminum part bolted to the steering column with an inline 6 contact connector with 4 wires going to it. When it is unplugged before starting the car the key cylinder will not even unlock to turn. If this is the steering angle sensor, and it is bad, this may explain why the starter does not turn immediately on occasion for several seconds while holding the key in the start position. Please give me your informed opinions!

take the guess work out of it and just take it to have the codes read. did you already try to reinitialize the steering angle sesnor?

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1980 500SE/AMG Euro
1981 500SEL Euro
1982 380SEL
1983 300TD
1983 500SEC/AMG Euro
1984 500SEC
1984 300TD Euro
1986 190E 2.3-16
1986 190E 2.3
1987 300D
1997 C36 AMG
2003 C320T 4matic

past: 1969 280SE 4.5 | 1978 240D | 1978 300D | 1981 300SD | 1981 300SD | 1982 300CD | 1983 300CD | 1983 300SD | 1983 380SEC | 1984 300D | 1984 300D | 1984 300TD | 1984 500SEL | 1984 300SD | 1985 300D | 1986 300E | 1986 560SEL | 1986 560SEL/Carat | 1987 560SEC | 1991 300D 2.5 | 2006 R350

What do you mean reinitialize the steering angle sensor?
What should I do differently than what I already described?