I researched TCM's from mercedes and can made EGS52 TCM in to G-wagen version, they works without ESP/ABS but need aditional speed sensor on out of transmission with 16 teeth.
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I have done multiple times. And found alternate sensors not expensive, connect direct to TCM. and read from external ringThe difference between the G version of the 722.6 and the others is simply a 16 tooth attachment to the parking gear. And, of course, the corresponding sensor that has to be threaded into the housing. Unfortunately, the entire transmission needs to be disassembled to get to the spot where the 16 tooth part is added. If interested I can connect you with someone who has done this.