ESP/ABS Malfunction

Has anyone experienced a malfunction with the ESP/ABS on a CLK 430? Evertime I leave my driveway, it is a steep driveway, the malfunction sensor comes on. I have to shutdown and restart the engine to reset. I've had a tech look at it 3 times. Most recently they changed the computer which seemed to solve the problem for about a month. I have never had the sensor go off when the car was on a level surface.

I'm extremely frustrated and would welcome any suggestions to fixing the problem.

[mbdoc]

Have another look at computer codes, this is the best way to find fault in traction system. Either another dealer or ind shop that has code reader should be able to find fault!