Sounds to me like they've over done it on the tracking - it can track straight but the steering wheel be off, which has "upset" the steering angle sensor.
Be careful, because the steering angle sensor is used as part of the ESP, so it being off could potentially be dangerous (if the ESP is activated, that is).
Be careful, because the steering angle sensor is used as part of the ESP, so it being off could potentially be dangerous (if the ESP is activated, that is).