Twice in the last three months my 2002 ML500 has had the BAS/ESP light come on and stay on, while every 5-10 seconds the ETS, ABS, Brake Pad Wear and Brake light flash on then off, along with an audible beep. My OBD II scanner says 'P0720- Output Shaft Speed Sensor Circuit Malfunction'. The last time it happened it cleared itself for a few weeks after I erased the codes and pulled a few fuses. This time I tried and it has kept coming back.

I have searched the forum for anyone that has had similar problems. I found a post where a guy with the same code said his VSS on the differential was bad, but the fix was easy and commom. It wasn't the same model car as mine, but it may have been the same tranny.

The question I have is this; can anyone post a photo or line drawing of exactly WHERE this differential VSS is on the ML's? If I can find it I can probably replace it. Trouble is I think the ML has three diffs (center-most likely spot, front and rear)! Oh, and what is a ballpark cost from a stealership?