"2008 C300 ABS, ESP lights on, replace just Dynamic control module?"

Yes, it is a plug and play unit.

When the ABS control module failed on my 2001 SLK230, it caused the ABS pump to run continuously. I had to remove the fuse to get the pump to stop running. New A170 545 01 32 Module: $1,250.00
I found a wrecked 2001 SLK230 near me and the ABS pump assembly looked in good condition, so I purchased the entire unit for $150.00.
I swapped the control modules and my problem was resolved and the ABS/ESP lights did not come back on.

Good luck.

Pictures of used unit:



Here is the module after I removed it from the ABS unit I purchased.



Module installed on my car, as you can see, it's a tight fit. If you move the fuse cover and surround cover, it gives you just enough room to remove and install a new module.

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1993 190E 2.3
2001 SLK230
1971 LS5 (454) Corvette Convertible