Mercedes-Benz S-Class Saloon W223 2021 Owner's Manual page 581

Warning/indicator lamp
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Rear axle steering warning
lamp (yellow)
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Rear axle steering warning
lamp (red)
Possible causes/consequences and
Consult a qualified specialist workshop.
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Note the messages on the driver display.
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* The yellow rear axle steering warning lamp is lit while the engine is running.
The rear axle steering is malfunctioning.
Note the messages on the driver display.
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* The red rear axle steering warning lamp is lit while the engine is running.
The rear axle steering is malfunctioning.
& WARNING Risk of accident if steering capability is impaired
If the steering does not function as intended, the vehicle's operating safety is jeopardised.
Pull over and stop the vehicle safely as soon as possible, paying attention to road and traffic conditions. Do not
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continue driving under any circumstances.
Consult a qualified specialist workshop.
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Note the messages on the driver display.
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Solutions
M
P223 0288 02
Display messages and warning/indicator lamps 579