I had the same experience just after reaching 14K on my 09.
Can't remember if it was a Target parking lot.
But, it just came on. After a couple of starts, it went off and I thought all was well. It finally came on and stayed on.
It was not the clockspring or the alignment on mine. Actually had a bad sensor that was back ordered several weeks. This sensor fits under the center console and is the one that apparently feels when the vehicle is not going straight, level, etc. After it was replaced, and since, everything it fine!!