W204 C350 Anyone had the ABS/ESP Inoperative message?

Ive had it appear on the car the last 3 days. Ive tried a new battery, aswell as turning the steering wheel full lock left and right with no success. It comes on soon as i drive off over 10mph+. Diagnostic shows no problems with the Abs sensors on the wheels. Ive also disconnected the ABS module to give it a "Reset" but again no success.