I have a 2001 Mercedes C240 and recently got a ESP visit workshop malfunction, the check engine light came on, the car vibrated and slowed down. I had to shut it off and restart. I was told I needed the YAW sensor. I replaced sensor and now check engine lights is on again. It says that cylinder #6 misfired. They checked the coil, the spark plug,wires & fuel injector and it was OK. It drives great until it reaches 4000 RPM then the check engine light comes on and it slows and vibrates. What else could be causing this. The YAW sensor cost me $550.00 w/o labor and I have limited funds to spend. Can someone help me please!