The tech mentioned the C1120 was a soft fault, which leads me to assume that the stored fault is the cause. How long does it take for a replaced yaw rate sensor to be "recognized" by the control unit, and the past faults cleared out? Is there a chance it could be a faulty control unit? I really want to get the problem fixed, as there have been several instances when driving the ML, that the brakes seem to nearly fully apply themselves at highway speed (60-70) causing the vehicle to jerk downward and to the left.