Great guide!

I used it to calibrate a steering position sensor for my friend in bmwscanner 1.4, super simple.

Unfortunately the error still remains.
He swapped a steering column from E53 to E39, because he wanted a 3 spoke steering wheel from E53. He kept the old position sensor. But now he's getting an error in abs module, and dcs triangle is lit on the cluster.
The transmission is also in error mode. Not sure if it's all related.

https://i.ibb.co/1r6DTpS/Screenshot-...8-Telegram.jpg

I wonder if there's a way to tell if the position sensor is successfully calibrated?

You should be able to get a live steering angle reading with a proper scan tool.

He kept his original steering angle position sensor? If so, there should be no coding needed. Just possibly a re-calibration.

If you mean he kept the old position sensor off of the donor setup, then yah you'll need to code the sensor to the new car, but you will also probably need to re-calibrate it. I'm pretty sure you can do that with the scan tool, but you can also try turning the wheel from lock to lock a few times.