I had the same ABS/ASR problem with my SL during winter storage a couple of years ago. I replaced the battery as it was more that four years old. Once I started the car the ABS/ASR lights were on. With the engine running and the car in park I turned the steering wheel all the way to the left and then all the way to the right and the lights went out. I did not experience the other issues you stated. However, I purchased a "battery tender" to slowly charge the battery after winter storage. This has worked very well for me. Good luck with your other issues.

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Donwo
1999 SL 500 Sport (30K miles)
1998 E320 (SOLD)
1989 560SL (SOLD)
1987 300E (TOTALED)
1986 300E (SOLD)
1984 300SD (SOLD)