UPDATE :
People who followed this thread remember I changed the actuator gear and it did fix part of the problem but after the gear swap , the 4x4 warning light stayed on and the abs on the left front wheel would activate for no reason (on dry) then the system would deactivate the 4x4.
Just got back from the dealer. Yes I went to the dealer again cause I went to an Indy last week and he charged me 50$ to tell me I had a problem and that I should have it aligned cause he saw the angle sensor fault and thought an alignment should be done first before doing anything else. So he sent me away to an alignment place and told me to come back after .....yeah right!
Anyway , dealer reprogrammed the steering angle sensor and voila , problem solved.
They think someone played with the steering wheel while the car was lifted and key in position 2, OR ,another tech said it could be because I changed the actuator gear and for some reason the position changed and sensor couldn't figure it out and "invented" new specs. But left spec was way off according to the angle sensor. They charged me 1hr no parts.
Thanks to everyone who chipped in....
