Sorry to bring up a dead thread, but... My light is on now.
I just flat towed it, I am sure that is what caused it, but where in the cycle of issues it could be? I did leave the Jeep in "run" but not started, only because I had jumped in for a moment to make sure the wheels were straight so I huffed on the wheel a little, nothing at all major.
So what I gathered form this, disconnect the battery and turn the wheel from bump to bump basically a few tims to see if it 'clears' or re-aligns?
'13 Explorer, '12 Outback,'07 JK, '07 Mustang GT Convertible, '05 PowerWagon,'05 Freestar