Had similar codes on my 2012 s350.
16D300, 16D400 which i think are a generic "adblue fault"
I suspect the level sensor. But cant be sure.
This is the latest reason im considering ditching the car and avoiding all similar cars with overly complex fragile emmissions devices.
I believe the later adblue level sensors are of the ultrasonic type where level is detected by a reflection from the surface of the liquid- they are moulded into the tank body-meaning a new sensor means a new tank. earlier level sensors [ replaceable?] were of the two electrode type and prone to urea crystals forming on them. there is a separate heater in there as well of course as you said