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I had a BAS/ESP light come on in mine during a road trip, and it never came back on after that.
The computer still saved the codes anyway, and it prompted a new electric motor (which was a service bulletin upgrade anyway) that had something to do with the low-gearing mode.
Your computer should still have the codes that you experienced unless you disconnected the battery recently...have a tech pull them for you.
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2009 ML350 (106K) - Family vehicle
2001 CLK430 Cabriolet (80K) - Wife's car
2005 BMW 645CI (138K) - My daily driver
2016 Mustang (32K) - Daughter's car
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