I had the front end disassembled for sleeves gussets and bjs. When doing the passenger side I removed both the drag link and tie rod from the knuckle. I also turned the steering wheel quite a bit while these were removed. Now everything is back together the ESP light is on, visually the alignment looks ok. Is it possible that I could have thrown off the alignment somehow although I did not change the length of either the drag link or tie rod?

 

Clock spring?

 

Could be steering isn't centered or as posted maybe the clock spring was damaged. With the steering disconnected it's not good to spin the wheel.

 

I drove around the block, all the warning lights turned off. Thanks for the replies.