Try unplugging both terminals of the battery, with the battery unplugged, put the key in the on position to drain left over charge, leave it that way for 5 - 10 min, them remove the key, plug the battery back in. And give it a start. You may need to re calibrate the steering if the RSCA comes on.
Another thing you may want yo check before doing all that is the differential lock button to make sure that's off, its located by the power antenna button by your right knee when sitting in the driver seat.