Per the owner's manual: page 88 Synchronizing ESP?
1. Turn the ignition switch to the ON/Run position.
2. Rotate the steering wheel to the center position.
3. Rotate the steering wheel completely to the left, and then rotate the steering wheel completely to the right.
4. Bring the steering back to the center position.
5. The BAS/ESP malfunction indicator light will go out.
If it doesn't, then service is needed.
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