2000 Mercedes Benz ML320

The inability to shift may not be related to the BAS/ESP light and may likely be a failed shift gate module which will make the vehicle difficult to come out of park. To get it out of park try this: Hit the top of the gear selector with something heavy like a book, while pulling on the selector at the same time. This should knock the solenoid in the assembly loose and allow you to shift. This works most of the time but not all of th time. As for the BAS/ESP this could be related and may be causing your whole issue if it is a failed BAS/ESP control module. However it could be something like a failed steering angle sensor as well.