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You should post ML questions at the ML/GWagen/UNIMOG forum.
The light may be caused by a bad brakelight switch, been fairly common. Evem if the brakelights work fine, there is another set of contacts in the switch used by the ESP system.
Another possiblity is that the battery went dead or was disconnected and the steering angle sensor never got initialized. To do this, start the truck and turn the steering wheel fully left and fully right, do this a few times and see if the light goes out.
Gilly
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