Help needed - CLK 350 - Engine light

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Would an oil change be recommend even though the car has only been driven 3k since the last oil change?
Start with a fresh oil and filter change then you know that it has the correct grade of oil etc
I'm sure the others have more accurate information, but is it not worth changing the position sensors first? (I assume it has them but am not sure.) Also, poor battery health can cause errors, do a battery check.

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