Originally Posted by VALKRYDERGUY
Best thing is to disconnect the battery for 20 minutes or longer.
This should do a hard reset to all codes.
After reconnecting the battery you may have the BAS ESP light on.
Simply turn the steering wheel fully to the left and then fully to the right to turn it off.
Once again you came up with the answer. I just installed an electronic license plate retracting bracket. After disconnecting the neg battery cable and reconnecting I had the BAS ESP light come on. I turned the steering wheel left then right and it disappeared. Thanks to Valkryderguy.