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Hi, my name is***** this problem you will need to get the car connected to the Mercedes tester to initialize the pre-safe feature on the S class. Even though the car says "do not drive" you can safely drive the car to the shop to reinitialize the pre-safe. The procedure involves initializing the seat, steering column and sunroof.
Let me know if you have any questions.
I'm afraid that without the tester there is not much you can do. Sometimes you can run the seat all the way forward then all the way back and continue to hold the switch an additional 3 seconds after the seat reaches the end of it's travel. Do the same with the headrest and the steering column and the sunroof. Sometimes it works and sometimes it doesn't. If it doesn't work you will need to get the car connected to the Mercedes tester.