Replace Clockspring & Steering Angle Sensor W211 Mercedes E Class

Detailed run through removing and installing a new clock spring and steering angle sensor for the Mercedes-Benz W211. This example is on my E55 AMG, but would apply to any E Class from 2002 to 2009.
Common errors on the dashboard will be "ESP NOT AVAILABLE" or "ESP DEFECTIVE".
The parts used are:000-464-05-18
002-542-80-18
Please note there are 2 types of STEERING ANGLE SENSOR. Cars built mid 2004 later have a different style.
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