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Did you push the car or turn the wheels while the Battery was off?

If so the yaw rate sensor may need recalibration, it senses the posistion/direction of the wheels, if they are moved to a different posistion while the Battery is off, it dont know. When the Battery is connected again, it thinks the wheels are facing in a different direction to where they were before. Throwing up the fault light. It needs to be reset by a dealer.

That is what happened to me and the explaination my dealer gave me

HTH

Paul

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