OK, so after playing around with the GT1, under the Service Functions tab, there was an option to reset the steering angle, basically asked to make sure the wheels were straight, and then hit continue, it read "no more faults stored" and then the abs dsc lights were gone ! (happy camper)

now, probably the hardest part, under function controls, you can have the gt1 display de angle, try to get it as close to zero, I played around with the steering wheel, and it is hard, closest I got was either one, or negative one.

so no more lights, now to see what's up with my DSP.

Thanks !!!

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2012
E70
3.0 Diesel
18K miles