I'd like to know what your dealer says. I'm having "some what" the same situation. On cold start-ups, I get the DSC light, ABS and Brake lights. I let the car idle for about 2-3 mins, then turn it off, let her sit for about 2-3 mins, then turn her back on... the lights disappear. They don't come back during the whole day of driving even after turning the engine off. The only time they lights come back are first start-ups early morning. I actually had came from my Indy a few days ago to have new control arms installed and had them run On Board Diagnostics. It read the steering angle sensor. But I would like to hear what your diagnosis is though after your dealer visit...