2005 Mercedes c240 4  matic with faults p0720 and p0600

 wt i should check for this problem ?2005 Mercedes c240 4  matic  automatic with 230000 km,one week ago ,every time  after 10 minutes of driving is going in limp mode,no rpm showing on cluster and if i stop the car i can not move the shifter from park position,  check engine come on with faults p0720 and p0600 and cluster message  :brake wear, esp display malfunction and abs display malfunction.