The steering angle sensor provides information to the controller with regard to the driver's steering intention, direction and rate of change. The sensor will not be the reason why the steering is pulling to one side, but it will be telling the controller you're away from zero even though you intend to go straight ahead if the sensor is not correctly calibrated. This may impact the performance and reliability of the ESP system.
The most likely cause of a steering pull is bad tyres. Swap the front wheels side to side and see if the car pulls the other way. If it does you know one of the front tyres is bad. YOU ARE VERY UNLIKELY TO TELL JUST BY LOOKING, so don't just assume they're good. If it makes no difference then swap the rear wheels side to side. If you identify which tyre is causing the problem make sure it's kept on the rear until you replace it.
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