[kenschel]

thanks to the above info, I got this resolved. I was installing a new radio headunit and so had disconnected the battery. PSM failure warning came up right away after reconnecting and starting up. I straightened the steering wheel, disconnected battery, waited a few minutes, reconnected. Then I did the full right turn/full left turn thing with the steering wheel, and drove slowly up the street for a few minutes. Warning cleared.

Thank you!