in my 1999 ml20 I replaced the battery and as soon as I drove away from dealer the esp/bas light came on. It comes on now from time to time when it is started and then stays on until I shut off the car. I can turn the wheel all the way right and all the way left and it will reset it or something. But it might come on again the next time it is started. The dealer said it is most likely the sensor light going bad. Does this sound logical?

No, it does not.

I have seen several brake lamp switches fail and steering angle sensors fail.

The ONLY real way to know is to go back and have them read the codes. If the light comes on from time to time, there is a code there.

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Benzmac:
Donnie Drummonds
ASE CERTIFIED MASTER AUTO TECHNICIAN
MERCEDES SPECIALIST 11 YRS