For 1990-2009 cars

1. Position the vehicle on an alignment rack. Refer to Lifting and Jacking the Vehicle .
2. Measure the wheel alignment. Adjust the wheel alignment in order to ensure the vehicle matches the specifications. Refer to Wheel Alignment Measurement and to Straight Ahead Inspection .
3. Turn the ignition switch to the ON position.
4. Turn the steering wheel to the straight-ahead position.
5. Connect the scan tool to the data link connector of vehicle.
6. On the ABS system menu, select the ESP menu.
7. Perform the steering angle sensor centering procedure by turning the steering wheel more than 5 degrees to the left and to the right.
8. With the steering angle sensor centered, clear any steering angle sensor related DTCs.
9. Lower the vehicle.