2000 S500,BAS/ESP,ABS light.
 

I have the ESP,BAS and abs lights on,suddenly,on the hwy...I read about the brake pedal sensor,however,that is a cheap and fast fix,however,the brake lights work...how can you have the brake lights working and a bad pedal sensor?,or maybe I am wrong...car had a broken parking brake shoe,I replaced it,verified the sensors,everything seems fine at the wheels.

Of course to find the problem, a scan with MB scanner will tell you what is wrong.

The brake lamp switch has 2 functions, one to turn on the lights & the other signals the traction system computer.

Brake pads will NOT cause those lamps to come on.