Wouldn't worry about those daft lights they just let you know the sensors need replacing anything serious and you won't need the light to come on, a lot of car sales places switch them off.
Looking at 400 notes to get the rack out and reconditioned, not a bad price that it's a proper job just getting them off and on well worth getting it done though they sedona's sell for twice what I paid for it with more miles and no service history, proper rugged day van the steering fault came up in the last MOT as a minor, the old boy that sold it was in his 90s owned from new, he lived proper rural so the steering fix costs would be real high, I got the best reconditioning shops on my doorstep and loads of garages to do the work, I have let them pick the time slot, that is the best way labour costs wise.