Well after trying the steering wheel dance about 8 times it finally took. Took it for a drive and loved the results. On the drive I noticed my cruise didn't work. Checked its fuse, not blown! WTF. Well I gotta have my cruise, so after all that I reversed the process and went back. Then I thought, just pull the fuse. I did. Took it for a drive, love it again. Guess what? The cruise doesn't work!!!!! WTF WTF! Put the fuse back. Everything is fine. Has anyone just tried unplugging the ESP unit right under the hood?