My Mercedes E320 Has Weak Acceleration, ESP Error, and Overheating Issues

I've been using my Mercedes E320, and for the past 20 days, I've been experiencing serious performance issues. The car feels weak on acceleration, and it seems to strain itself on the road. The tires and rims get unusually hot, and it's showing an oxygen sensor fault. Additionally, the temperature gauge isn't stable—it keeps fluctuating. To make things worse, the ESP (Electronic Stability Program) error also pops up. These issues seem to occur more frequently when the car heats up. I'm really frustrated and starting to lose my confidence in this vehicle. Does anyone know why this might be happening? Any advice would be greatly appreciated.