[ImperialCrown]

If the amber ESP/ABS light is on, then there is a fault code stored in the ABS module. It isn't a dealer maintenance reminder light.
The cruise control will not work as long as there is an active ESP/ABS fault code. The code may be able to be read at an auto parts store. If a more specialized scan tool is required, then you will have to visit a dealer.
I have used a piece of speedometer cable to measure the level of ATF in the bottom of the transmission pan. Listen for the 'thunk' at the pan bottom and go no further. You then approximate the temperature of the ATF and then go to a look-up chart to see what the proper level should be. If there are no external leaks, the ATF level may be OK. Use ATF+4 only.

The tool looks like this:
http://www.etoolcart.com/chrysler-dip-stick-gauge-9336-a.aspx

The chart is here:
http://www.bing.com/images/search?q=chrysler+atf+level+temperature+chart&FORM=HDRSC2#view=detail&id=6B3955E5F26CAE40855723AF64843C77B36DAB49&selectedIndex=10

These thermometers are handy:
www.harborfreight.com/non-contact-laser-thermometer-96451.html

 

[sickboy]

i went to the dealer for a transmission flush and fluid change. it was about $130, but the difference is night and day. i believe the service is recommended at 60k anyway. with regular service, the mercedes 5 speed is pretty bullet proof.