I'm pulling this from foggy memory, from when I had to do a re-cal on an SAS for a jeep here, based on what my scan tool told me to do...
in a large parking lot with the engine running...
turn the wheel clockwise to lock
turn the wheel counterclockwise to lock
center the wheel
drive straight ahead for about 50'
make a right hand 360* loop
make a left hand 360*
drive straight ahead for about 50'
turn off the vehicle
turn on and start the vehicle
not all the steps will be required, if the system is satisfied at some point during the process.
you should hear a chime when it's all happy and the dash emojis should go off.