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Hi, the BAS/ESP light will usually wind up being a bad sensor or a bad brake light switch. You should get the car connected to a Mercedes Scan tool to read the fault codes in the BAS/ESP system. The codes will tell you exactly where the problem is. I've replaced wheel speed sensors, steering angle sensors, yaw sensors and stop light switches on this model in addition to an occasional ABS pump assembly.
On the radio screen the key must be left turned on to the first click and the radio must remain on until WAIT changes back to CODE. Once the radio displays CODE the security code can be entered to unlock the radio.
Let me know if you have any questions.
It can take as long as 24 hours for the radio to reset.
Wheel speed sensors are approximately $300
The Yaw sensor is approximately $900
A steering angle sensor is approximately $350
If the light stays off there is nothing to worry about. If the battery had died the steering angle sensor just needed to be initialized. Turning the steering wheel all the way to the left and then all the way to the right would turn of the BAS/ESP light.
That's a tough question without seeing it. Most 2001's are worth around $6000 in my opinion.
Absolutely. You can't go wrong for that price.
Good luck with it!