Mercedes Repair Questions? Ask a Mechanic for Answers ASAP
Hi, it sounds like it's time to replace the battery. You will need to get the battery charged and tested along with the alternator. If the battery keeps needing a jump I'd say either the battery is bad or the alternator is not charging the battery. For the BAS/ESP warning you need to start the car and turn the steering wheel all the way to the right and then all the way to the left a few times to initialize the steering angle sensor.
Let me know if you have any questions.