Steering angle sensor?

[black fingernail]

HELP!...The Broomstick is driving me nuts, well, SWMBO is.
Back in may, the ABS light was coming on with related brake grabbing etc.
After a bit of diagnostics, and guesswork, I shelled out for a new pair of rear ABS sensors. I cleaned out the rings as best I could through the hole, cleaned off the mating surface, and fitted them.
All appeared ok, but not now, it has all started again with a vengeance, lights coming on, brakes grabbing, even the EML now and again.
This can temporarily be overcome by turning the ignition off then back on, and quickly turning the DSC off with the button,
I have plugged in the little scanner, a C110+, and I have got a few codes, these are;- 5E43, 5DF4, 5E19, 5E3C, 5E38.
These codes will not erase, nor will disconnecting the battery reset anything, I borrowed an Autel box of tricks from a work colleague, to no avail, it wouldn't accept the VIN, or read it at all. As you can tell, I am no expert with this electronic jiggery pokery.
From what I can make out, the steering angle sensor is either faulty or needs re- calibrating, more than that, I am at a loss.
She wants to go to Z fest, only a few hundred miles away! In a couple of weeks time, no pressure!
Any suggestions and/or practical assistance gratefully accepted.

 

[DrWong]

I reset my steering angle sensor using INPA. Steering wheel was pointing at ten to four after changing the front wishbones and drop links, causing the TC and brake warning lights to come. Levelled the steering wheel, reset the front wheel alignment, reset the sensor in INPA, then the lights went out.

Easy enough to reset the sensor in INPA if you have it installed, or if you have access to someone with it. I'm not an electronic jiggery pokerist either.