That stop lamp switch may have caused it, but my mom's 1999 E430 states in the owner's manual that an illuminated ABS / ESP lamp is caused by a drop in voltage below a certain level.

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Paul S.

2001 E430, Bourdeaux Red, Oyster interior.
79,200 miles.

1973 280SE 4.5, 170,000 miles. 568 Signal Red, Black MB Tex. "The Red Baron".