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From the information given, you car is in "limp home" mode. ESP is the electronic stability program. It basically reduces the chances of skidding and spinning out of control by when it detects a spin, it automatically reduce engine torque, adjust braking and etc. The ESP is constantly on and when errors and or codes pop up in the system, especially in the S500s (W220), it will go into limp home mode for safety. Get it to a shop and scanned for trouble codes.

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15y ago

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