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

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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?
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The steering angle sensor must be calibrated. Your local dealership can perform this in about one half hour providing that the sensor is operational.
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