Our vehicle is a '99 ML 430. The ESP, ETS, ABS, and BRAKE lights sometimes remain lit after engine startup. With the lights lit, as soon as we drive forward or in reverse, the warning beeper continuously sounds. The lights remain lit unless we can "reset" them. Sometimes they can be "reset" by stopping the vehicle, turning off the engine, opening the door, and restarting the engine. If this doesn't work, sometimes the lights can be "reset" by turning the steering wheel from lock to lock with the engine running and door open; and then turning off the engne and restarting. Having the door open seems critical. If we're successful in resetting the lights, the beeper also stops. Ignoring the beeper, the vehicle seems to drive normally when the lights are lit.
When we talked with our service advisor, he seemed all too familiar with the symptoms and spoke to a possible problem caused by the brake light switch.
Any insights before I take the vehicle into the dealer???