Need to check the SAS and BCM data streams to see which is at fault when the DTC is raised. Fairly easy with Vida. Also can often identify the actual fault:
SAS angle changing randomly as wheel is turned - optical sensor(s) blocked.
SAS 180 degree out - SAS needs clocking - probably because someone tried to fix and put it back wrongly.
SAS slightly out - calibration issue.
BCM angle/speed regular or cyclic variation - ring on that wheel.
Complete lack of data on PID - bad sensor etc.
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