I am a long term MB driver 30 years and 5 cars. I always thought I got my money's worth until recently. My 2000 ML 320, bought new 47k, has really let me down in the last three weeks. I was driving straight and level at 40MPH and BAM! the car locked up one or more wheels without my foot on the brake! I dove for the shoulder and made it without being rear-ended. I have been ignoring a BAS/ESP light that rarely shows (5% of driving time) for months hoping to wait out a service visit. After the first incident, my local mechanic found nothing and reset the ESP. BAM again. First dealer service was new brake switch and BAM again. Second visit was a replacement of the YAW Sensor. The sensor and switch cost over $1000. The yaw sensor apparently shorted out and sent the BAS a signal that the car was out of control and power was withdrawn and brakes applied to certain wheels to bring the truck back under control. I'm just thankful that I survived three abrupt panic stops without my foot on the brake caused by the failure of a component in the electronic stability system. This is a really dangerous engineering fault. Imagine interstate driving at speed and sudden almost lock up (the BAS functioned with the pulsation) of some wheels.