Another 4X4 Light thread with a Twist

[higreenx5]

OK I searched and searched and did not come up with a similar situation.
My 2006 4.4 X5 has had the light on steady for 2 months after being intermediate. The fault according to the ECS tuning reader is the Steering angle sensor calibration and a no signal from DSC to the transfer case. I cleaned the steering angle sensor and tried to calibrate it but the calibration was deemed unsuccessful, yet all the data form the computers said it was 0ed out. I am at my wits end with this POS. I have 13.9 volts, tested at the jump points with a multimeter. I have no Yaw sensor errors or any other errors. Is there someone who solved this issue?