For over three years the safety systems (ABS, ESP, collision assistance, traction control) would all fail without warning. Dash lights would come on and stay on until I could get the car to a dealer. Happened 7 times. MB has still not been able to fix it. Wheel Speed Sensor replaced 5 times. "Reprograming" done the 6th time. Last time I was told the dealer could not do anything but erase the problem codes. There was nothing wrong with the sensors. MB response was a small trade-in incentive on another Mercedes-Benz.