2009 jeep liberty 3.7 Abs coming on when first moving

2009 Jeep Liberty 3.7, replaced clock spring because the esp, bas, and abs lights were on. Once clock spring was replaced the lights are still on and now my abs comes on ( seems like when my speed gets to around 15mph my abs brakes come on and lock up the brakes real quick ) until the EPs dash light comes on, then it drives fine, but my dash looks like a Christmas tree with all the lights on. Then I shut it down and start it up again to the same thing all over again.
 

What codes are in the abs module? Preferably a whole vehicle dtc check would be preferred

C2105, C1219, C1231, C1235.

Those are only codes that come up

One other thing that I noticed was the SAS came up at -679 degrees on my Autel mk906bt scanner

Well several of those codes are for the steering angle and the last 1 for the right rear wheel speed sensor . Can you do a steering angle relearn ?

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