ESP inoperative

[Hunterka]

I have a c220 2013, my esp, brake lock, run flat indicator and cruise control all went off a while ago, I have replaced all 4 abs sensors myself from euro car parts but problem still remains, I caught a guy from AA on a job next door and he done me a diagnostic for free and the following codes came back, see attachment, if anyone could point me in a direction to fixing this problem it would be great thanks.

 

[whitenemesis]

When I had similar with my CLS it was the steering angle sensor

 

[W1ghty]

My E class with those faults was the Brake Stop switch under the steering column for £12 .
But appreciate throwing guesses isn’t the best solution