W639 2010 111cdi abs tc esp light +low boost

[Chrisvito]

I have a 2010 pre facelift 111cdi auto and currently having a few problems with it. It’s going into limp mode with no eml light on the dash and when scanned p0299 is the code underboosting it’s fine when you start it in the morning for about 5 minutes then it goes into limp mode with no kick down if I stop turn off and restart it’s fine again for about 10 minutes again unless floor it with high revs. The other issue I have is abs tc esp light on I have replaced brake light switch and the wheel sensors but I can not reset the abs now I use to turn wheel left right a few times to reset it drive 2 mins and it went out now it stays in permanently and loosing patience with it now thank you Chris