Speed Sensor Problems of Mercedes Benz ML320

I am having safety issues with my 2001 Mercedes Benz ml 320 with a esp bas light coming on and locking front brake causing the abs to come on and stop SUV. To avoid an accident and almost getting rear ended with my kids in car. Contacted mercedes dealer and cant guarantee what problem is already changed brake light switch 2 times said it could be abs pump {800} or wheel speed sensors {1200} or yaw sensor, ignition switch, maybe even computer but said they could not guarantee to fix this problem. Mercedes benz should have a recall on this issue it has been going on for years some one is going to get killed. Spoke to benz at corporate and they only say bring it to the dealer who does not know how to fix this problem. Hope I can get a answer to this situation.

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Transmission is having problems accelerating and shifting gears. Would "rev" up then not shift and not allow my car to accelerate while I was on the highway, causing cars to back up behind me and putting me in danger. At other times it will not allow me to even accelerate. Have to consistently restart my car in dangerous places on the road to get it to eventually work. Went by body shop and turns out to be a speed sensor code issue with the transmission. Needs some form of a valve body repair, but unsure to what extent. This is one of many problems with this vehicle.

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