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1) Park the car. Make sure the wheels are strait. Disconnect the battery in the trunk.
2) Remove horn/airbag. There's a hole under the steering wheel. Insert a screwdriver or allen key (size 15-20). Find correct position, slightly moving the screwdriver back and forth. Then push the screwdriver upward to release the inside spring. First time it took me several minutes - I did not want to break anything.
3) Disconnect the horn/airbag. Gently push the tab with you finger or screwdriver, then pull to disconnect.
4) Remove the steering wheel bolt. Use 15mm 6 point socket (12 point socket is not very good for this). I don't know how to lock the steering wheel, so I needed second person to hold it while I was undoing the bolt.
5) Remove the steering wheel. Disconnect the wires by pulling the connector out
6) Remove the cover from the cowling. I did not use any metal tools here. Apply finger pressure and pull the cover towards yourself.
7) Using T10 Torx key remove turning signal, cruise control and windshield wipers controls.
8) Remove the bottom cover of the cowling. There's plastic screw on the bottom, be careful when removing it. Then apply finger pressure to the top cover and pull the bottom cover down. Do left and right sides separately, one at a time. Leave the bottom cover hanging down. Don't remove the top cover.
9) Using T15 Torx remove 6 screws. Then carefully pry big tabs on each side to release the big round module. I could not remove it completely until later, as the wires on the back hold it.
10) Remove SRS module ($545+tax at the dealership) from the brackets. First pull the bottom part out, but not completely. The wires behind it at the bottom are still holding it. Then wiggle the module out from the brackets. Don't rush - find a way that works.
11) Disconnect the wires from the back.
12) Now I was able to separate completely big round module from the SRS module.
Using T8 Torx remove 4 screws. Note the arrow alignment for later - when you're putting it back together.
13) At this point you could clean the disk. I took it out completely - wanted to inspect the board and it is more convenient this way.
Remove two T6 torx screws to disconnect ID Led cover. It's slightly yellow-ish. Cleaning did not help.
14) Release the tabs from behind to remove the disk. Use your fingers to slightly push several of the inward at the same time.
15) You probably can feel some sticky goo on the top of the disk with your fingers. Clean in (I used oil-eater with water), wipe it dry (I used cloth that comes with eye glasses).
16) Put everything back together. Don't forget to align arrows from step 12. Connect the battery, start the car. After the dreaded yellow AWD, break, stability control lights come up, turn the wheels all the way to the left, then all the way to the right. The messages disappear. It's been almost a week for me and the message has not re-appeared.