I had something similar happen to my 2013 Solera recently. Three icons lighted up in the instrument display indicating problems with the braking systems. I stopped at Mercedes of Spokane (WA) and they diagnosed the problem as a bad right rear wheel speed sensor. They did not have one in stock and indicated that it would be safe to drive the rig home (about 300 miles) and have my local Sprinter dealer fix it under warranty.
The service at Mercedes of Spokane was superb, even without an appointment. They even asked if I had a few extra minutes as there were some computer updates available and they would be happy to do the updates. I accepted their gracious offer.
I wish the story had ended as happily at my local dealer, Mercedes of Bellingham (WA). Their service writer treated me like I was driving a garbage truck! It took them four days to "confirm" the diagnosis the Spokane tech had posted on the Mercedes network. Then, they didn't have time to order the part until I prompted them. Finally, it took another week to get the replacement wheel sensor installed…a sub-one-hour job. My Solera was at that dealership for 11 days and it would have been longer had I not gotten really insistent.
Interestingly enough, I received customer service surveys from both the dealership and Mercedes Benz' Sprinter Division. I bet you can guess how that went!