Hi Scotty, I have been a fan of you channel and really enjoy your content. Keep up the good work.

I have a 2002 Mercedes C240 with 108K miles and it runs perfectly fine but lately once in a while the check engine light comes on alongside ABS and ESP malfunction error on the gauge cluster and at that moment when I’m pushing the gas pedal, the car doesn’t accelerate, it feels like the car is choking (I don’t know how to explain). I turn off the car, wait a couple of minutes and turn back on and everything is fine like it never happened. (I need to do this 2-3 times to work). 
Last time when it happened (when the errors popped out) I plugged my OBDII and got P0600 (Serial Communication Link) and P0720 (output speed sensor). Would changing the ABS/ESP module help?
Please advise. 
Thank you in advance for your time and effort.

Regards,
Arvin