The sensor needs to have the basics settings restored. This will extinguish the orange steering wheel light. Park up on flat level ground with steering wheel straight, go full lock left and hold for 10 secs, then back to the centre for 10secs. Repeat going full lock right for 10 secs then back to the middle. Afters this drive forward in a straight line no more than 10mph and the light should go out. The esp one should do as well after a little distance.
As for the TPMS, that might just need setting as you normally would once the basic settings have been done. Not sure though as I don't have it.