I had similar issues, the first problem was a dodgy steering angle sensor which I replaced, 2nd problem was caused by me calibrating it with the wheels slightly off centre. When correcting it, to absolutely make sure it was properly set up I put the car on the 4 wheel alignment ramp to make sure the wheels were both pointing dead ahead, then I took off the steering wheel and put it back on straight, and only then did I perform the sensor calibration.
If the steering wheel is put back on 1 spline out you will barely notice it being off centre when driving down a straight road, and you won't notice the wheels aren't straight when its parked up, but the steering angle sensor will pick up the fault if you calibrate it at that setting. 1 spline out on the steering wheel gives 10 degrees out if you check the sensor's live values driving in a straight line, more than enough to trigger an error.
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