On our Zeds the ABS sensors serve as the tyre pressure sensors. If you haven't yet, definitely clean the front ones, in particular the area between the sensor and the brake disc. Also check the electrical connections on all 4 corners. I'm not sure if this error is self clearing or it needs to be reset. Based on reports of cleaning ABS sensors clearing the error, it sounds like it is self clearing.
We can hope the steering angle sensor is a red herring. If not, it's not the end of the world, it is the one thing on the steering column that is serviceable.