Zero tolerance steering angle sensor.

I get the ESP light showing on dash all the time, so took the car to a garage and this fault comes up which throws the ESP light.
C1170 Zero tolerance steering angle sensor.
Checked under dash to see if everything was connected and it seems ok.

Anyone has come across this issue?

Need to mention, a while back i changed the steering rack so it might has to do with that, not sure though..

C220cdi 2002 w203