Needs advice please. My 2002 ML500, 86K miles, had two new tyres fitted recently at which time I had the tracking done becauase the old ones were wearing unevenly in my opinion. Shortly after the BAS ESP light came on. I took the car to the Merc Dealer and they diagnosed that they needed to do a laser tracking on all four wheels. When I got the car back the light was off however came on again later in the day. I returned it to the dealer who checked it out. Collected it again and once again, after a short drive, on came the light. Back to dealer who had it for a day or two. Said that there was nothing wrong with the car, drives well, however that the diagnostics still say that the steering angle is off although they say that the car drives without fault and that the steering is straight. Dealer chap said that in his opinion, if the car was his, he would run it with the light on otherwise the next step is to spend a fortune changing the steering colum in order to see whether that is the problem. Car drives fine although I am unhappy that the light is still on. Any help much appreciated.