I have a 2004 e220cdi with an ESP/ABS problem. Read back the fault codes which indicated a faulty right front speed sensor so replaced that with no improvement. Then replaced the wheel bearing with new seal (abs magnets) and again problem still exists. Upon startup no warning lights but drive 100m above 10mph and three errors shown: ESP defect, ABS defect, Service brake - visit workshop. Error codes: Trans module 2404 - No CAN from N47-5 (ESP module) ESP module 44AF - L6/2 right front speed sensor SBC module C2452 - L6/2 right front speed sensor I then monitored the wheel speed actual values and they all look fine. All similar driving straight and vary slightly when turning. The fact that the wheel speeds are correct indicates the problem is not with the sensor, hub seal or wiring? Any ideas on what to try/check next? During diagnosis are the wheel speeds read from the SBC? Could there may be a communication or wiring issue between the SBC and ESP modules? Took car to Mercedes for further diagnosis and in the limited time it was there they could identify no more than the right front speed sensor error I had seen. We tried swapping the sensor again with no success.