My BAS/ESP/AntiLock Brake warning lights intermittently go off on my 1999 E430. It seems to happen more frequently in hot weather (95+ degrees). Most of the time, stopping the car and restarting it clears all the lights and warnings. It's been at the dealer 4 times now. They're changing things left and right. Has anyone had this problem? I get a little nervous when the dealer starting changing out parts that aren't even broken.

They've changed out the wiring harness, the ESP control unit, and the steering angle sensor...none of which fixed my problem. :-( Any help would be appreciated.