This bulletin from Honda applies to 2010-2013 Insight and Odyssey models. Mismatched tire sizes will intermittently set VSA DTC 84-12 (steering angle sensor neutral position memorization incomplete).
The VSA system performs a center point check of the steering angle sensor at the start of each drive cycle by comparing the sensor to wheel speeds. If all of the wheel speeds do not match at some point, the check won’t complete and the DTC will set.
Make sure that all tires match the size that listed on the driver’s door jamb label, have matching tread depth and are properly inflated. If tires are mismatched or have slightly different tread depths, correct this condition before continuing.