Originally Posted by *********
I've never had to reinitialize my power steering....do you have active steering?
No, but on page 121-12 of the Bentley Manual "Battery reconnection notes" the third item is "Steering angle sensor" "Adjust..."
I think I found it under the Power Steering section of the Bavarian Technic tool. (Although I took a part a whole bunch of stuff in the engine compartment and my family was wondering if the car would even run after what I did, this procedure cleared all these errors, and it makes sense. Without steering angle sensor properly set how can traction control work, which works in conjunction with AWD and stability control.)
I believe xis don't have active steering, it is only available on the non AWD models.