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Hi, my name is***** you inspected the TCU for oil contamination? It's not unusual for the electrical connector on the transmission to leak fluid and allow fluid to wick up the wire harness and into the TCU.
Usually with an immobilizer problem you will get a short crank or a crank/no start. You should also have immobilizer codes. Have you checked the starter itself? Have you bypassed the starter relay to see if the starter works?
Ok, yes the TCU and the shifter both send park recognition signals to the ECU to authorize cranking. On a Mercedes scan tool you should be able to see actual values to see if the starter is authorized.
The fuel pump is probably running you just may not be able to hear it. Depress the valve core on the fuel rail and see if you get a good spray of fuel. It should not be related to this problem unless you have a bad ignition switch.
Your CAN codes are probably due to the fact that the TCU is not communicating on the CAN. Have you checked power to the TCU? Fuse 16 and 22 power the TCU and the shifter.
Right kick panel and under the driver's seat. I doubt it's a ground problem. When you turn on the key does the instrument cluster show that the transmission is in park?
It sounds like you have a bad electronic gear selector module.