So about a year ago I changed out my rear brake pads. After I did I noticed the ABS light turn on and my ESP was off. So I opted to disconect the battery cable to see if the ECM would reset itself. To my surpirse it actually turned on the power steering light (yellow not red). I have no idea if my abs sensors are bad, and if I need to change out my steering angle sensor. This car is a massive pain in the ass and I hate working on it. Any suggestions on what I might be able to do?