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That's hard to say...limp mode can be caused by other items at fault...its commonly not related to the ASR even though it lites up the ASR lite. But it certainly could be a problem with your ASR.
Just un-plug the speed sensors at the front shock towers and drive around with it like that....see what happens. ASR will be off as well as ABS.
You really need to have the codes read to see what is causing the limp mode. I had a limp mode problem in my 500E for a bit...turned out to be the Throttle Body Acuator...which wasn't even listed as a fault code. Tricky stuff to hunt down IMO.
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