I have the same problem with mine. I do the Steering Angle Sensor reset, but the light comes back on shortly afterwards. The Brake Light Switch can be a common cause,so you should check the sensitivty on your Brake Pedal, although seems to be fine on mine, I think it could be a problem with the Wheel Sensors. When your light is on are you able to turn the Traction Control on and off? Also have you checked the fuses in the box where the RCM is located as I believe some of these relate to the BAS/ESP circuit.