I just swapped out the TeraFlex BB for the TeraFlex 3" spring kit. I have adjustable front arms installed. I took it for drive, noticed the steering wheel was not centered, and the esp lite up on a few curves and went off again.

So I recentered the steering wheel and now the esp light stays on when I start the engine. I mean just sitting in the garage and the esp light stays on. Any ideas?

 

Keep playing with the steering wheel, maybe disconnect your battery to reset, I dont have a good answer.

 

If the steering wheel is spot on center I would try as Ryanc mentioned. Disconnect the battery for 10 minutes or so and see if that clears the computer.

 

Possible reason:
Maybe you are still not 'centered' or maybe your clock spring sensor is toast
[Inside the steering collumn there is a part called the 'clock spring sensor' that tells the computer the physical/O'clock position of the steering wheel, which the ESP uses... mine was damaged when the lot-boy broke the key off in the ignition and the dealer had to fix it, in turn damaging the 'clock spring sensor'... my ESP indicator was on all the time until they replaced the sensor}