Hi Nick. It is recommended that you get Techstream. This is the Only diagnostic program that works 100% with your car. Other generic ones only work at best 70ish%.
What you could do for now is disconnect the battery and leave disconnected for 30-45 minutes. This usually clears codes But if they appear again Techstream will tell you exactly what the problem is and what needs to be replaced.
One thing I suggest, and to all is250 owners, is to take the multiplug off the ABS unit and check the condition of the pins of the plug and the sockets of the ABS unit. I unfortunately found water ingress and rust in the sockets which meant the ABS unit had to be replaced. Scarey yes but it happened to my car and that had a Full Dealer service history.