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I wouldn’t worry unless it comes up again.
Give your car a wash & it might not come on again.
Friend of mine had/stlll has this on his W212. If it doesn't go away then it could be a fault with the headlamp itself. He replaced the camera near the hear view mirror housing (even though I told him it wasn't that) and it made no difference. Fault codes pointed at the N/S headlamp and the actuator that moves the beam is faulty. Solution is to either replace the headlamp and get it coded (very expensive) or use the high beam manually. All other headlamp functions work normally. Hopefully, your's will be a glitch like daveenty had experienced.
Had it on my W218 intermittently. Eventually took it for a diagnostic and MB said it needed a software update. No problems since the update
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