1991 300E2.6 (100K miles) About once a week, immediately after startup, my SRS warning light remains illuminated. A slight turn of the steering wheel left & right extinguishes the light. Is this a possible 'simple' steering wheel contact switch replacement?

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The light has a 4 second diagnostic cycle that it goes through every time that you turn the key to position 1. If any problem is detected the light will remain on & the fault will be stored in memory. The steering contacts & charging system are the only things that don't always keep the lamp on until diagnosis is performed.

To clarify, I should wait the full 4 sec to see if it extinguish; or, can I get a shop to read the code?

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Because your SRS MIL goes out when turning the steering wheel, this normally would confirm that you have a steering wheel brush contact problem. Usually, though the light will flicker on/off when you get that one spot on the wheel. Next time this light stays on, be sure to wait longer than the 4 sec. diagnostic cycle, and then move the wheel.
It is also suggested that when repairing this problem, that both the contact ring in the steering wheel and the brushes in the column be replaced.
Last comment, many people (inc. car detailers) spray cleaners on the dash board, avoid spraying these around the steering wheel contact. If it must be used, spray it on a cloth and then wipe the dash.

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