2007 Mercedes E550 Showing ABS and ESP Inoperative and Car won't start

We have a 2007 Mercedes E550.  All at once after
jumping the car bc it would not start, the ABS and
ESP warning message came up on the dash, the
power steering stopped working as well as the
cruise control.  Didn't have the money to fix it and
the car seemed to be running fine despite the
power steering making it more difficult to steer.  
Last night the car would not start.  The lights come
on and the the battery seems to be working fine.  
After some research, we thought it was the Brake
Light Switch so we replaced it but the car still won't
start and the ABS and ESP Inoperative lights are
still on when we try to turn the car on.  We also saw
in our research that it could possibly be an issue
with the Crankshaft Position Sensor.  My husband is
worried he jumped the car incorrectly.  We are not
financially in the position to bring it to the dealer
and have a diagnostic test run.  I just lost my job
and Xmas is just around the corner.  Any questions,
info, answers or direction would be greatly
appreciated!!