I had ABS, ESP and another light on my 2013 Sprinter 2500 and there was no cruise control. According to Internet Wisdom, it's probably the wheel speed sensor. I called the dealer and they wanted $190 for the diagnosis. I used a cheap bluetooth OBDII dongle but of course it doesn't do ABS codes. So I ordered that. Upon receipt, I updated the software (Warning: Windows only) and connected to the van. My right front wheel speed sensor read over 40,000 mph while the other three read 0. I think I found my problem. The scanner has already paid for itself with a single use. Can't beat it
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