My Dash lit up and tells me to take to the shop because my ESP has Malfunction

I notice after I shut the car off and restart it it reset. but once I drive 4 to 5 miles back on. There no triangle lighting up on the dash whem this happen and no responce from pressing ESP button. Tried it with ESP off but the same happen. Any Suggestion.

 

Steering wheel sensor is usual suspect but could be several other parts. Pull the codes and see what is failing.

 

Had Suspension work done on it over the weaken, ( The famous Creaking Noise) ball Joints did move freely with my pinky finger, sure signs of worn joints, if I remember fron shop class in the 70's. Notice then dash warning on the way home. Does need Front alignment bad. it scheduled for Saturday. Hmmm will this sloved the problem?

 

Do the alignment and after it is done search for the procedure to reset the steering angle.

 

I keep u posted thanks

 

Got the alignment today, no more malfunction indication.