You can do it w/o the svc. terminal. Jack the truck up, loosen the set screw and with the unit powered up, you can manually with a pry bar rotate the steer/ drive motor untill the 2 hash marks are lined up. Now while the truck is on the jack and running pull the encoder and rotate the pot so you can see the the drive unit turn back and forth to ensure it works. bring the steering back to center on the hash mark, install the pot/encoder back in and tighten the set screw, lower the truck to the ground and drive it. if it codes again replace the steer encoder. Very rarley will it be the encoder behind the steer til;ler assy. But, it has been known to happen. - Jeff