If you are truely interested in having the traction control and brake assisted steering my ques would be to find a good mechanic that can diagnose the problem.

If your like me i get a little feint of heart when my car tries to steer itself or even worse the system goes wonkers and causes you to get into an accident.

I had a similar issue with mine 3,000 mi after i purchased it and after 2 weeks of BS from 2 dealerships i decided to figure out how to disable the ESP/BAS. And decided I was better off not praying the ESP/BAS worked properly at the worst time.

I made a step by step picture procedure for disabling the yaw sensor for Waldig or any other members who wish to drive thier vehicals without any interference. This along with simply turning off your traction control button does this without disabling your ABS system.

You will still see the flashing traction lights on the dash give you warning blinks when your experiencing any loss of traction near the limits. "example oversteer around a corner or rear tire spin from too much throttle" which is nice because it let you know if your driving to close to the limit or giving to much throttle.
Yaw Sensor - CrossfireForum.org Gallery

If it was my wife i would just make her take a defensive driving course (whether it be profesional or just you and her in a big empty parking lot getting the car loose and getting it back undercontrol) and drive the car without the computer assisted steering.

But if you are still under warranty i would get this resolved just incase you wish to sell the car in the future.