The front sensors are sending false signals to the control unit. Replace the front 2 sensors to solve the problem!!
We sell them in the partsshop if you want to tackle it yourself!

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Benzmac:
1981 280GE SWB
1987 16V
ASE CERTIFIED MASTER AUTO TECHNICIAN
SERVICE MANAGER FOR 14 BAY FACILITY
MERCEDES SPECIALIST 8 YRS
PARTNER IN MERCEDESSHOP.COM