C200T strange electrical/automatic gearbox faults

C200Tdriver

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C200T estate auto 2000
I have strange intermittent (and presumably related) faults on my C200T estate automatic (2000):
1. Sometimes the car works fine.
2. Sometimes the ABS and ESP warning lights come on together, on startup or during journey, but car otherwise works fine.
3. Sometimes this goes on to major failure: while moving, with these lights on, speedometer goes to zero, and low gears in automatic gearbox fail to work (ie car remains in high gear, can maintain speed on level, can just about move off from rest on level ground, but would probably fail on hill, and manual change-down won't work).
May be triggered by damp - has always happened in wet weather on wet roads.
Stopping and turning ignition off sometimes solves the problem, at least temporarily.
2 garages have been unable to diagnose the problem (symptoms fail to appear; the first cleared down the fault codes and the second could not find anything wrong).
Any help welcome please!
 

WG M-B

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I would say you have a voltage problem that is intermittent . The ESP warning is usually one of the first to flag up
 

television

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And I say you have a front wheel speed sensor fault,, the speedo failing indicates this to me
 
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C200Tdriver

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Further diagnosis please?

Many thanks for these two different possibilities which are helpful - can anyone confirm, or think of anything else which fits these warning light, speedometer, gear failure symptoms?
 

television

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For the speedo to fail , then it has to be a wheel sensor I feel, as the speedo is the odd man out. The ESP needs the ABS and and it cant work without it
 

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