Do you have to disconnect the battery or clear the codes or the light to stay off?

I replaced the switch, then after I put it in drive the light (BAS/ESP)came back on.

Also, how do you diagnose a faulty wheel speed sensor?[/align]

 

Turn steering wheell lock to locka few times with engine running to clear lights.

Bazzle

 

Turning wheel lock to lock worked for the whole way to work, 36 miles, no lights. When I started it up to go home, they were back on. Guess I'll see if any codes are stored.