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Steering
If the steering angle is not changing when you turn the wheel, might want to start there. Does your tester reset the steering angle? Sorry if you mentioned this already. I would try that. If that doesn't work, use ISTA+ to run through guided fault finding. If nothing there, I would try to factory code the DSC.
With ISTA+ there are separate tests for the steering and DSC operation. You should be able to narrow it down. Some of the errors you see are probably cascading errors. Seems like the steering angle is being weird. ISTA+ also has the active steering startup procedure that might be worth a try. Hopefully it's just a glitch. Hard to say though without ISTA+.
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