There is a known issue and recall for wheel speed sensors on Mercedes Sprinter 3500 models. However, this same issue applied to 2500 models also. Along with other RV owners, I have just experienced this problem. I was in city traffic when all the sudden multiple warning lights came on: "ESP, visit workshop", "Brake force distribution, visit workshop", ABS warning light, ESP, warning light, collision prevention malfunction warning light, check engine light with fault code U0416. The presence of all these errors, beeping, red messages sounds extremely scary to any driver. The fact that it says brake force distribution isn't working properly suggests a hazardous condition that could lead to a crash if brakes are not working properly. Since this is being caused by a failing wheel speed sensor, these should all be replaced and the recall expanded to include other models like mine.
NHTSA ODI 11440448