For 1990-2009 cars only
- Position the vehicle on an alignment rack. Refer to Lifting and Jacking the Vehicle .
- Measure the wheel alignment. Adjust the wheel alignment in order to ensure the vehicle matches the specifications. Refer to Wheel Alignment Measurement and to Straight Ahead Inspection .
- Turn the ignition switch to the ON position.
- Turn the steering wheel to the straight-ahead position.
- Connect the scan tool to the data link connector of vehicle.
- On the ABS system menu, select the ESP menu.
- Perform the steering angle sensor centering procedure by turning the steering wheel more than 5 degrees to the left and to the right.
- With the steering angle sensor centered, clear any steering angle sensor related DTCs.
- Lower the vehicle.
