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ESP/BAS and Traction Control Lights Stay On on 2007 Jeep Compass

I purchased a 2007 Jeep Compass from a dealership and while driving home experienced the joys of a flat tire. Now after replacing all four tires, the ESP/BAS and Traction Control lights all stay on. The manual says to take this to a jeep dealership to diagnose the problem. After a few quick google searches, I found something referring to flashing the steering angle sensor as a possible solution. Any ideas?

Asked by for the 2007 Jeep Compass
The steering angle sensor must be calibrated. Your local dealership can perform this in about one half hour providing that the sensor is operational.