The contact owns a 2016 Mercedes-Benz Sprinter 3500. The contact stated that while driving at 30 MPH, the ABS warning light and the electronic stability control warning lights illuminated. The contact also stated that the motorhome was making abnormal clunking sounds. The contact was able to continue to drive at less than 30 MPH. The manufacturer was notified of the failure and advised the contact that one of the wheels must have failed to patch the ground. The manufacturer advised the contact to turn the vehicle on and off three times using the ignition key for the warning lights to disappear. The contact stated that he did so and the warning lights and warning messages disappeared; however, they reappeared the next day. The contact stated that while driving at 50 MPH and towing his Volkswagen vehicle, the transmission disengaged and the vehicle made an abnormal clunking sound. Then the transmission reengaged and disengaged causing the vehicle to lurch forward. The contact continued to drive the vehicle. The contact stated upon starting the vehicle the failure reoccurred. The RV was taken to the dealer who diagnosed that the rear axle speed sensors, knock sensors needed to be replaced, and the recall repair for NHTSA Campaign Number: 21V042000 (ELECTRONIC STABILITY CONTROL) was completed. The contact also stated that the dealer cross-fired the speed sensors which caused the computer to not allow the vehicle to drive more than 35 MPH. The vehicle was not diagnosed or repair