Hey everyone. I just got into my new limited after my last one was totaled. The new one is a 2005 with 24,000 miles on it. The car looks and drives brand new. However the BAS/ESP light on the dash comes on ONLY after moving the steering wheel. The light is off when the car is first started and remains off until the steering wheel is moved ever so slightly. I have search the forums and tried the fixes like resetting the system, disconnecting the battery, and trying the read and clear codes. The car is showing no codes anywhere when connect to a reader. From my understanding it could be the module, but the brake lights still work when the brake is depressed. From my understanding they will not work if the module is bad?

Any suggestions would be greatly appreciated!

P.S. I have checked the tire pressure all the way around and they sitting where they should be.