Just thought I'd share how I rectified problems with my 1999 W202 over the 5+ years I have owned it. I feel I am obliged to do so after using this forum to help me along.

1. The ABS/ESP light kept coming on intermittently. Stopping the car and restarting fixed it but after a few days same problem. Researched the Net and found that a faulty brake light switch was to blame. (located under the gas pedal). Cost RM100 (USD 25) to fix. All's well now.