The spokesman said Daimler is not aware of any accidents or injuries related to the issue.
In 2009, Mercedes received five field reports in which a loss of tail lamp was due to loss of electrical connection, but the cause was unknown at that time and designated for further study, according to the NHTSA documents.
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Last year, NHTSA opened an investigation into the issue and Mercedes responded with information in October, according to the documents.
NHTSA requested further information in March 2014, and in preparing to respond, Daimler decided to conduct the recall.
Dealers will replace the bulb holders if not previously updated and replace any corroded connectors, NHTSA said. Parts are not currently available. Owners will be sent an interim notification in June and a second letter will be sent when the parts are available, which is expected in August or September, NHTSA said.
—The Associated Press and Reuters contributed to this report.