I was asking, because you will get the error if the battery is disconnected. the ecu needs to relearn the steering wheel position. center the wheel, turn all the way to the right, keep there 1-2 seconds, turn all the way to the left keep there 1-2 seconds.. return back to center.
It can also be the brake pedal switch it's on top of the brake pedal, can easily be removed by first removing the electrical connector then twisting the switch quarter turn.
Then grab the self adjusting tip with pliers and pull it out, reinstall (while somebody is pressing the brake so the tip remains extended) and push/release brake a few times to allow it to readjust.
If it is the brake switch the rear brake lights should be ON all the time(with engine running)
If it's not any of the easy ones there are a lot of other possible causes but will require actual diagnoses, reading the ecu faults, measuring voltages, resistance etc.