hello ESP sprinter

Mercedes » Sprinter » 2006-____
Question

I have a W906 om 646, I figure error code Launch 4D35 (N80b1) Steering angle sensor. values ​​are implausible. Could it be related to the steering wheel? or sensor on wheels. 7201, the CAN message from control module Engine is invalid or implausible.
Could ESP turn on the engine light? Thanks