The "Lamp Defective" message is probably real. Check ALL of the bulbs, including the license plate bulbs (plural). You probably lost one.

Note that bulbs come back sometimes while driving. The loose filament flops around until it touches the other side, temporarily welding it in place. Gone today, here tomorrow, but still a bad bulb and will only alert when it is gone.

For the ABS and cruise problem, I would replace the brake switch. It is a VERY common fault, and if yours is original, you are due. Do not get any aftermarket switch. M-B OEM only for this part; it's cheap from the dealer anyway. Be sure to pull the plunger out on the new switch when you install it.