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There's a good chance it will be the brake light switch. I had the exact same symptoms as you... replaced the switch and presto, issue solved. Hardest part is getting the lower panel off the dash so that you can get to the switch. There are two catches at the front of the panel that are tricky to release unless you know where they are... so here's a picture of S500 when I took it apart... the front clips are circled in red and are hidden when the panel is in place. You release them with a fine tip screwdriver put between the carpet on the lower panel and the dash.
Also, length of the switch plunger is "automatic" in setting. Be sure to pull it out before installing. First time you step on the brake, it will adjust itself to the right length.
Hope this helps.
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KenP
1996 S500 W140 Coupe
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