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Ford Kuga Mk 2 Sensor Issues

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Hi, new to the forum, we have a 2013 Mk2 Kuga Titanium TDCI Auto AWD (47kmiles) with an intermittent fault, the "hill start ascent not available" displays on the centre binnacle information read out, ESP/Snake icon lights up and if left car goes into limp mode. The first time it happened supplying Ford Used Car Specialist took it back and replaced the car battery, car ran fine for 3.5k miles then in the last 700miles its happened twice - last time it came on as soon as engine was started after not using for 3-4 days. Error codes when scanned are pointing to steering wheel angle sensor, canbus, and comms issues with ABS - question thus asked then, if the supplying dealer replaced the battery but did not reset the BMS would it cause these subsequent issues or are they unrelated - has my local garage (Bosch Service centre) who have used for a number of year a bit of head scratching and are reluctant to start changing sensors unnecessarily which is a refreshing change. Any thoughts/ likely causes and suggested solutions would be appreciated. Thanks

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