I have an 02 C240 that gets intermittent ESP Warning Visit workshop. This error sometimes happens when I first start the car (car still in park), sometimes after driving for 10-15 min (most of the time), and sometimes not at all (rarely). To me, this sounds like a sensor going bad. I have 2 questions. I have seen many posts about this issue, but havent seen how this issue has been resolved. My first question is, does anyone have any advise on which sensor could be going out. Secondly, does anybody know if I take my car to autozone will their machine pull the code since no check engine light is on? Thanks.