I don't know this for certain but, based on the info it could be that the clock spring is having an issue. This makes sense only because the 2 system that you mention are only related by proximity and the clock spring having an issue could explain both items acting up.
Ideally you would want to take it to a shop that has a scanner that can communicate with the ESP module to see what code(s) are stored and are the reason the ESP light is illuminated. That is much better than my internet guess.
Let us know if you go that route and what you find.
my shop changed the clock spring and solved the issue Part# 453.901.7000
Part is backordered in Canada with NO ETA since 2019 and i was unable to get it locally
So i had to order from the US and was hard to find, was able to find it here Mercedes-Benz Parts & Accessories | MB Online Parts
This part may prove difficult to find in the future