installed the front sway bar. After I got the car completely back together, i looked in the foot well and realized during our work the sub frame had pulled the inner steering shaft completely out!!! with effort I could slip the two back together. Currently the steering wheel is crooked and I have the warning lights for the S-AWC (AYC & ACD) on! Please help

 

You got the shaft back on without the wheels being straight. Either you need to remedy that or the steering angle sensor needs to be recalibrated. I'd try to get the shaft off again and straighten the wheels/steering wheel before putting it back together, If you fix it by adjusting the tie rods and recalibrate the sensor, the light will go off but the range you can turn the wheel in each direction will be uneven.

 

so the wheels where straight but the steering wheel wasn’t when I reconnected the shaft. Is there a way I can remove the steering shaft so I can straighten it without having to drop the sub-frame ?

 

How did you fix it? I just did something similar I suppose 🤦‍♂️