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You might try turning your wheels straight ahead on a level surface and then disconnect the battery for at least a minute, this can reset the baseline for the yaw sensor.
 

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Baseline has been cleared several times already via techstream. I replaced front strut/springs and rear shocks along with all 4 sway bar end links and performed a 4 wheel alignment. The VSC still kicks in intermittently on the highway. I have new front ball-joints and a rebuilt steering rack with inner and outer tie-rods that need to go in next. Hopefully this cures the dreaded VSC issue. I'm sure front control arm bushings are probably tired as well but one thing at a time.
 
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