ml320, my BAS/ESP light came on and they ran a diagnostic and got code for yaw rate sensor. What the heck is this? They said "need new yaw rate sensor at minimum, at some point in future\may need steering angle sensor, had intermittent code before for this sensor". What does this mean? Should I go ahead and have it replaced? I have little confadence in this shop.
Also the cat. converter has now gone bad, is this maybe related? Oh and one more bit of info, this all started when one day my battery was dead, I jumped it, took it in and test said it was bad. They replaced the battery and when I drove away the BAS/ESP light was on, and now the converter is bad