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I read your other post also. How many miles on it? The cat may be covered under the emission warranty, whether you bought it new or not. I've never seen one with an actual hole "rotted" or rusted out of the cat, it's made out of stainless steel. I have seen them crack apart on a weld though on the ML's. I've never replaced one without needing to remove the torsion spring though, it's not that bad to remove the torsion spring.
On the ESP/BAS light,if this happened right after a battery replacement, they possibly didn't know that the steering angle sensor needs to be initialized. If the light is still on, try this:
Go out and start the truck, then start turning the steering wheel all the way to the left, then all the way to the right, and do this about 2 or 3 times in each direction and see if the light goes off then.....
Gilly
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