Hey guys, I was driving my car(2004 SLK 32 AMG) and the first problem appeared when I was cruising with traffic and suddenly felt a jerk from a shift in the car and it sipped into neutral. The jerk wasn't really aggressive, but clearly got my attention. I felt no steering problems and I pulled to the side and restarted the engine. This has happened in the past I'm trying to figure out what to do. 2nd, A couple minutes later and I was pulling up into a parking spot and noticed the BAS/ESP light on the dash. This all happened tonight and the light hasn't came back on. I'm still doing some research on it, but anyhelp will help a lot.