Here is the procedure if you ever have to recalibrate your steering: 1. Park vehicle with wheels straight ahead. 2. Start engine. 3. Turn wheel fully left to lock, then fully right to lock and back to center. 4. Check to see if the ESP/BAS lights go out. 5. If the trouble lights do not go out, repeat the process. (Note- Anytime you disconnect the battery, you have to re-sync the steering). Also, if you have a sunroof, run it through the full vent up position, close and manually operate to full open, then full close. (This teaches the sensors the limits of travel). then test the sunroof by doing auto open / auto close to verify.