I searched the forum archives for an answer to my ESP/ABS warning lights coming on and going off. The suggestion was to replace the brake light switch with an OEM. I did that and it resolved the problem. At first we thought it wasn't fixed as when the car was first stated the lights were still, but by the time I got it out of the parking lot they went off and have not come back on!

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2000 Mercedes S500
1990 Mercedes 560SEL
1970 Triumph Spitfire