Battery? Believe it or not I still have not changed mine because it refuses to die, and I have been living with this intermittent issue for 3+ years.

At this stage, limp mode is triggered when the temperature drops below 50 or so. (In the summer high heat and humidity will cause the same).

You specifically said "No ASR light." Are you referring to the yellow one on the lower right of the IC or the one above the tach?

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2008 E350 4matic / Black/Anthracite

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Gone but not Forgotten:
2001 E430 4matic, 206,xxx miles, Black/Charcoal
1995 E320, 252,xxx miles, Black/Grey
1989 260E, 223,00 miles, Black/Black