Could ABS DSC Brake lamps in IC be caused by bad wheel alignment?

[Pepsimax]

Hi,

ABS DSC comes on after driving about two miles.I have tested all ABS sensors and they seem okay.

I hav had the fault codes read at the dealer and it showed:

0001 LRA
0090 IKE
005A DSC (believe this is loss of power to steering angle sensor)
00BD IKE
IHKA: AUC sensor
0029: DSC (steering angle plausibility)

Lights comes on after driving a couple of miles. If I turn car off, and then back on again after 30 seconds, lights are not lit. Before lights comes up ABS is working when I test on ice. However, 4wd does not work. If battery is disconnected and reconnected 4wd will work also until lights come on first start. After that 4wd will not work again.

The wheel alignement is off for sure, and my steering wheel is offset meaning when I drive straight forward the steering wheel points to 2 oclock. Can this cause the lamps to light up in the IC? And also inactivate 4wd?