Service c light is on

check the operation of the light module.

Brake light switch is bad

go on utube always good for cars

If the engine amber light comes on , it generally means the engine needs servicing! Or you have a faulthy sensor.
Oil/ filter change first.

This is probably your starter.

This Can Be DONE BY Disconnecting Battery For 5-10 Mins.

it can't be done unless dealer does it, if your breakes been done, you may have the sensors issue

These instructions will work from 09/01/2003 and up 211 Model E Class Mercedes
1. Insert igntion key, switch to position "1"
2. press the page button (looks like a page in front of another page. Use the one with the writing on the rear page) on the steering wheel controls repeatedly until the mileage is displayed within the multifunction display.
3. Press the cluster illumination button 3 times in short succession. The battery voltage will be displayed.
4. Press the up or down arrow buttons until the service menu appears.
5. Use the + and - buttons to select the menu option "confirm"
6. Press the page button on the steering wheel until " complete service" is selected.
7. Confirm "Complete Service" with Page Button. The display will show "Service Confrimed"

I had a similar issue and it turned out to be that one of the U brackets that holds the Anti roll bar to the front sub frame was gone. $7 part from the dealer.