ESP fault

[ml320cdi]

I have these fault codes showing, can someone guide me as to what the cause could be?

Brake (ESP (Electronic Stability Program) - ESP164 (Electronic Stability
Program) - MT/AT)

5420 - CAN: communication gearbox

- Intermittent

5399 - CAN message from gearbox (actual gear)

- Intermittent

 

[shorty]

It could be a bad connection where the CAN line from the transmission connects a BUS bar . Im not sure where there located on an ML thought ,but it could be worth checking