Start the car. Display will say ESP unavailable, go to owners manual. Useless that is because only here did I find the right info. Turn the steering wheel lock to lock. ESP cleared. Set the clock. Re sync the windows - that's simple. Pull all of the windows buttons full up until the windows close and continue holding full up for another second or two. I did this fronts, then backs. Re sync the moon roof, similar to front seat, with the window closed push the button to raise the pop up roof and hold it for a second or two after the pop up stops raising.