Most of the time you just have to start the car, turn the steering all of the way to the left then all of the way to the right, back to center and turn the car off . Then restart and take it for a short drive and it should go off. I doubt your Yaw sensor was bad. I don't think yhey tried to rip you off, just don't know crossfires. The search feature at the top R/H corner of this site can save you money and frustration.