Dealer instructed to replace steering angle sensor(since they could not communicate with the sensor) then have vehicle aligned and then calibrate replacement sensor. Did that and drove about 10 miles to get home when BAS/ESP light came on again. Asked owner/mechanic to reset light. He did and said he saw a code for a "lateral" sensor(but he did not think it influenced the existing problem). He also stated that if the light came on again-there was nothing more he could do to help. Any ideas to correct this problem.
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