[pfsantos]

Anyone with these issues, PM me.

 

[pfsantos]

The issue in my case ended up being that my steering angle sensor behind the steering wheel was off by 180 degrees. I had disconnected the steering shaft at the rack for some other work. Even though I tried to make sure I didn't rotate the shaft, I obviously did. I ended up removing the steering wheel instead of disconnecting at the rack, aligned the steering sensor to 0 deg. with the wheels straight, and then did the road test. I didn't even have to follow the exact procedure. Just drove it in the neighborhood with a couple of left and right turns and it reset.

I've had someone else contact me about not being able to get out of road test mode. Basically, this gentleman had a bad yaw sensor. So the first two things I'd check are the steering angle and yaw sensors:

1. Make sure your steering angle sensor works, no codes saying otherwise, and close to 0 degrees when steering wheel and wheels straight. My (old by now) icarsoft MBII shows steering angle sensor values. It also got me into the road test mode mess!
2. No issues with yaw sensor. Check for any codes. I'm not sure how to test this sensor, but if there's a way, the M-B WIS would show it - some good scanners may be able to do this. I haven't checked.

edit: seems that the steering angle and yaw sensors work hand in hand, which makes sense. If you're turning, the yaw sensor would see this, and if not, it won't. Vice versa.