I was able to find a way to calibrate the steering angle sensor with my Foxwell -- it was under "Service" but wasn't in the place that the videos on Youtube said it would be. After that I cleared codes and the dash lights went away. I will drive it tomorrow to see if they stay away. Thanks for the help!

__________________
2003 3.0 5MT Topasblau
Purchased in 2016 and sold in 2024
2012 35d Platingrau