Thank you both for the input. I am aware they need to be in the auto position, as that is the setting I use 99% of the time. But I can definitely tell they are not tracking at all when I am turning. I will have to check those connections this weekend I suppose. I hope I don't need to remove the bumper to do so. Here is a pic of the warning light:
The warning light comes on whether I am in the auto setting or normal setting. Its very weird.