Originally Posted by Padgett

Agree BUT when I see many things referencing the same issue, in general that is where I start.
Or example when I had the BAS/ESP light that would not reset, sacn tool found this:
C1141-2
MIL ON&Stored&Current
Pressure sensor :B34/1 (ESP pressure sensor 1) : Electrical fault
C1141-4MIL ON&Stored&Current
Pressure sensor :Zero point offset error of component B34/2 (ESP pressure sensor 2)
C1141-8 MIL ON&Stored&Current
Pressure sensor :Zero point offset error of component B34/1 (ESP pressure sensor 1)
C1141-16 MIL ON&Stored&Current
Pressure sensor :B34/1 (ESP pressure sensor 1) , B34/2 (ESP pressure sensor 2) : Plausibility error

BTW the MIL (Check engine) Light was not on, the BAS/ESP was.
However since several mentioned the "ESP pressure sensor 1" and was inexpensive on Ebay, I replaced that. All of those errors, the BAS/ESP light, and those relating to the Steering Position Angle went away.
So indicators plus good scan tool plus troubleshooting experience will take you a long way but sometimes you just need to throw money at it.

Praise the Lord and pass the ammo.