When I bought my car, the dealer said that if I ever disconnected the battery, I would have to bring it in and pay for the car to be "rebooted" basically b/c of the new electrical system. Is this correct?

 

No you don't have to take it in. I think that the info you are looking for is in your owners manual, but all you should have to do is turn the steering wheel left then right and back to center(for the ESP). Also the one touch windows need to be reset.