With Consult-II

WARNING: This page is about a different car, the 2006 Nissan Xterra. However, it is still accessible from the selected car via links, so may be relevant.

Stop vehicle with front wheels in straight-ahead position.
Connect CONSULT-II and CONSULT-II CONVERTER to data link connector on vehicle, and turn ignition switch ON (do not start engine).
Touch "START (NISSAN BASED VHCL)", "ABS", "WORK SUPPORT" and "ST ANGLE SENSOR ADJUSTMENT" on CONSULT-II screen in this order.

Fig 1: Locating Data Link Connector
Courtesy of NISSAN MOTOR CO., U.S.A.
Touch "START".
CAUTION: Do not touch steering wheel while adjusting steering angle sensor.
After approximately 10 seconds, touch "END". (After approximately 60 seconds, it ends automatically.)
Turn ignition switch OFF, then turn it ON again.
CAUTION: Do not touch steering wheel while adjusting steering angle sensor.
Run vehicle with front wheels in straight-ahead position, then stop.
Select "DATA MONITOR", "SELECTION FROM MENU", and "STR ANGLE SIG" on CONSULT-II screen. Then check that "STR ANGLE SIG" is within 0Ω3.5 deg. If value is more than specification, repeat steps 3 to 7.
Erase memory of ABS actuator and electric unit (control unit) and ECM.
Turn ignition switch to OFF.

Fig 2: Consult-II - Scane Tool Display Angel Sensor Adjustment
Courtesy of NISSAN MOTOR CO., U.S.A.