Hi there. Have a 2006 W221 320CDI. Have had some intermittent issues when reversing/parking where a message pops up on the dash saying: "DRIVE TO WORKSHOP WITHOUT CHANGING GEAR". Had someone connect it up today and looks like we are getting "No CAN Message was received" error codes C002, 0513, C103 and D13A. Has anyone experienced this one before? Is the resolution ordering a new ISM module and having it re-coded to the car to fix? Please see screenshots. Tx.