Loud Engine Noise problems of the 2000 Mercedes Benz ML320

I have been the owner of a 2000 mercedes Ml320 for about 6 years. The car was purchased from the dealer with approx. 30,000 miles. Today it has approx 73,000 miles. Since owning it, I have had several problems which were all out of warranty and which I feel were unwarranted and were not seriously attended to by mb or the dealer: this complaint form was very difficult to complete according to the fields provided. The equipment information included is not correct and was included just to get to the form. I felt that the problems with the car should be reported specifically the esp light and the air bag problems at about 51,000 miles, the airbag became inoperative. I was told that it would cost about $2000 to repair and correct. Dealer offered a small adjustment. I chose not to make the investment. At about 65,000 miles, I began having very loud noises that seemed to come from the crankshaft and appeared to be a brake problem. Dealer did try to determine what it was, but couldn't isolate the problem unless "he had to take the whole car apart" there was a related problem because the esp light would come on intermittently that the dealer advised could not be isolated unless I did the work on the brake and the crankshaft:" at about 72,000 miles, the car developed oil leaks from the motor. Est. Cost of repair was $2000. We are watching and waiting. In may, I was advised that there is a recall notice on the cruise control of the car. No word on that issue since. Because of the cruise control notice I received, I was prompted to write you about these other issues and became further concerned about the esp light and the faulty air bag the care has had. , car is driven an average of 150 miles a week in mostly city driving. Car is serviced but not by the dealer because of the high cost and relative dissatisfaction from the service provided. Updated 07/27/11.