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You'll have to get the steering angle sensor checked.
You should be able to read the angle with the iCarsoft reader. It might be under the sas reset function.
If it has a crazy angle reading when pointing straight ahead, it might be dead but worth trying to reset it to zero.
Try clearing it with your code reader.
I'm guessing everything is factory and you haven't messed around with the steering wheel or something.
Does the car steer straight? Had an alignment recently?
Can't see it being the combined sensor it mentions unless the car has been stripped out and it...
Get yourself some stainless pins for the brakes.
https://www.ebay.co.uk/itm/226075838837?itmmeta=01J03H54RX83Q6EZ8XXF075AA5&hash=item34a32b8975:g:U~kAAOSwT8BmDaVb
Hopefully it narrows it down to one of the wheels at least.
Then it should be a case of the magnetic ring or the sensor.
Best case would be a rear pick-up ring as they are replaceable for cheap.