I report a solved case

mil light on, esp light on and the engine does not yield

in diagnosis we read the following errors

error p2251 esp activated
error p2242 signals sent from can implausible
error p2208 sam brake can signal implausible

we solved the problem by having the brake light bulbs checked.

The solution was to change the stop switch or

BRAKE INTERR SENSOR

MB CODE 0015452009

greetings Antonio