2006 CLS55 My ESP light came on last night after hard acceleration. After the light came on I was able to drive it, but when I floored it again it didn't seem to respond. When I got into my car this morning the light was off. After driving a little while I floored it and the light came on again and I lost hard acceleration. It didn't die or change the drivability in anyway except for I could not accelerate quickly. If I switched to manual mode I was able to shift through the gears and accelerate hard. Any suggestions.