You were mentioning the left wheel was off. That made me think wheel speed sensor because there isn't a sensor that measures the actual position of the wheel. The steering angle sensor is composed of two angle sensors measuring rotation in opposite directions (redundancy just like every other fully electronic system). That's why you have to steer lock to lock to calibrate the sensor, so the number of rotations and end positions can be recorded. Disconnecting the battery for a long enough time also clears that memory.
I guess it just needed a factory refresh to reset all the 0's and 1's. Kinda like a smartphone needs every couple years...

I probably explained it a way that might be confusing but basically what the dealer told me is the steering angle sensor wasn't within spec.

Must feel good to not have to look at those lights anymore!

For you to bring this point up must be cause you know the feeling bro :D

Yes, and for me it is usually when I have been putting something off because I'm thinking it will cost a lot to fix and be hard to track down. Then when it I do get it fixed I am thinking why didn't I do that a long time ago.

I have to admit , I wanted to push this repair back til spring cause I was nervous about this particular problem. My projection of this repair was many many moments of frustration and trying to battle things out with dealer....Thats not how it happened at all and everything went smooth....Glad I decided not to wait until spring.
Now can't wait for next snow storm cause I can barely remember how it feels when everything works A1 on this X....