I've gotten that ESC light a couple of times after wheeling really hard.... adjust your steering link to straighten your steering wheel back to 12 o'clock and after driving a higher speeds for a little the light will go out, the computer just needs to sense the wheel and steering are going in the same direction and not skidding down an ice sheet.....:yup: You can drive normally with the light on if the linkage is off a little but if it's off quite a bit, the computer will sense a major skid and it'll brake / shunt the engine speed down to 'stop the skid'.:thumb: