I have somewhat similar problem with my ML320 1999. Occasionally, all
three BAS/ESP, ETS and ABS lights come on. They may stay or may be gone during the driving. If they stay on when I stop engine, they appear again on
when I start the car but after a short time they disappear. Often I can feel ABS at work at slow speed and after a short time the lights are on again. Occasionally, I also see warning light on.
This story began >1year ago in summer 2013. I visited three different mechanics and they could not read codes for this behavior. Unfortunately, I live in a small city and there is no dealership here, in Fairbanks. During winter the lights were off, and the problem re-appeared recently, in spring.
What can you advise?
Thanks -

Igor