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also im not sure if it is related; but at the start of all the trouble the control arm wouldn't go all the way back to the usual 90 degrees unless done manually.

Ya I have been into that screen all my ultra sonic number are between 46 and 49.

Yes, I have the touchscreen display and I have already cleaned the ultrasonics.

Started out saying steer left.. steer left until I was almost to the wall. I reset the system and it did the same. Now all it will say is to back out of the bay. All reseting techiques failed. I thought maybe it could be a problem with the grounding. Or I may need to replace ultrasonic sensor.