No electronics likes to be wet
Because the yaw sensor was under water it has been damaged.
Replace it
Fix the water leak:
If you have a sunroof, check the sunroof drains are clear in the A-pillars, check the join in the hose inside the A-pillar.
Most common culprit is sunroof drains
If no sunroof, check the windscreen for leaks and check the CEM cable entry duct for leaks
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XC90 R-Design MY2009, Black Sapphire Metallic. HP-Sound, RSE, Nav, Tel, ParkingCam, BLIS, ParkingHeater, RestHeat, Removable Towbar, Summer: CRATUS 20x8 on Pirelli Scorpion Zeros 255/45, Winter: NEPTUNE 17x7 on Continental WinterContact 4x4 235/65.
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