SLK 350 - R171 - Worrying Problems - Help Appreciated

[Skirmisheer]

I wonder if anyone can help.

We have an 05 SLK350 Auto and it's just started giving us trouble. While driving the information panel on the dash said there's a problem with the ESP and BAS. Then, on the same journey, the cruise control stopped working and another warning message displayed stating Speedtronic. Fortunately the car still drove fine and we got home with no problem. The next day we were out in the car and the error messages had disappeared. Unfortunately though, while in Auto, the car suddenly stuck in 1st gear when setting off and the previous three error messages flashed up again. All rather worrying.
I'm going to arrange for a local independent Merc specialist to have a look but it would be useful if anyone can suggest what may be causing the problem or how we can identify it.

Thanks.

[Skirmisheer]

Thanks for the replies.
The car is going for a diagnostic check this afternoon so hopefully will find what's going on.

[Skirmisheer]

It came up with Brake Servo Sensor. The guy that did the test didn't seem convinced thatthis is the cause of the problem. He's advised to keep using the car and if ever the error appears again to get the car immediately to him with the error still showing.