The wife's car has the ABS and ESP lights enabled and the cruise control is inoperable after braking to miss objects in the road. We took the car to MB Boerne yesterday and was told it was a fuse problem in which they would replace a fuse and reset the light. 30 minutes later, I received an estimate for $3K to change the ABS hydraulic pump function/program and front prefuse box. Of course, I declined having the work done. I have confirmed that the ESP fuses in the main fuse box are good. Also, my friend tried to scan for codes and the car does not have any. Any idea how to check the corresponding ESP fuse in the prefuse box? Also, does any have any idea how to manually clear the indicators to make sure this isn't a fluke. Thank you for your assistance.

a regular scanner will only pull PCM codes. You need someone with a STAR tester or advanced CAN functions.

What did the paperwork from the dealer say? Post pic.

Thanks for the response.

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Took the car on a road trip this weekend and had no problems. Not having cruise control is annoying though. At this point, I may just get another estimate from a Indy because it doesn't seem to be something in my wheel house.

Picked up an scanner and the following codes are provided. Any chance this is a fuse problem or should the pump be replaced?

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My dad has the same car and had the exact same issue about 18 mos ago. He said this: Bad wire in the rear wire feed to the wheels. Had to re-wire the feed to the wheel and tie it into the main wiring harness. MB dealership charged me about 500 vs new wiring harness costing more than 3,000!