The "Limp Home" mode can be triggered by many events, not just an ASR fault. In my case, it was the shift position sensor, aka safety neutral switch, part no. M000-545-62-06.

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Mark Stetson
1995 E320 Wagon Moonstone Grey/Parchment 106K mi.
2007 E63 AMG Graphite/designo 75K mi