Thanks guys. Found a "how to" with pics on another forum and I recentred the wheel this morning.
The steering itself seemed fine....there's no evidence of feathering on the tread and it tracks straight as it did before.
I did find the clamp bolts on the track bar adjustment were not particularly tight at all.....I'm thinking all the bouncing around may have vibrated the adjusting collar.
I drove it for a while after straightening the wheel and the light stayed on, so I disconnected the battery for 15 minutes, then took it out for another drive....50 metres and the light went out....woohoo.
Oh, and the ESC Malfunction also takes out the cruise control, which now works again.