The situation with this car is so confusing honestly. I wrecked it years ago and bent the tie rod, I replaced the tie rod assembly and the steering wheel hasn’t been straight since. No alignment shops can get the clamps on the wheels since one control arm is about one inch further back than the other. It drives straight and doesn’t really cause any problems. The BAS/ESP light went off years ago and since then I just put the steering wheel back on straight the other day and now the light is back. I feel like I messed something up with the steering angle sensor since the arrows don’t line up anymore but I thought the reset process would fix the issue but it hasn’t.