Not to sound bad, but READ THE F***** MANUAL!
In our cars, every tire has a sensor inside [think radio transmitter]. When you rotate the wheels you MUST reset the system -it thinks your wheels are in wrong spots, which they are [you just rotated them!].
Now, there are TWO types of reset - first is using the button and holding it for 5 seconds. That does a soft reset. In theory, you should never do this, as once your driving returns to normal [not too bumpy or wet, around 40mph] for around 5 min, it would automatically shut off.
Second type of reset,
and the one you gotta do, is a hard-reset. It involves playing with your ignition key and brake pedal from what i remember [got new tires 5K miles ago] - read the car user manual - page 136 from what i remember [not the short description, the long detailed one - if you cant find it, let me know and i will give u exact page number].
After hard reset, your car "relearns" the position of tires and their pressure. You have to drive normally over smooth [preferably] roads at like 40mph for about an hour.
It took me two hard resets to make my genius car finally "learn" new tires. Although on first try i did not adhere to the 40mph part of the equation at all...
On a side note: After the crappy stock tires went after like 15K miles, i got Michelin Pilot A/S - although madly expensive, i think they are worth every penny. They are slightly lower profile [+10w/-5h], but that does do much. The car handles turns like it is on rails - i really regret not getting the SE Sport version now

If i get enough $$$ together, i'll try to get sway bars and see if that makes suspension a bit stiffer on turns.
Best part [and i didnt know it was a general problem, not just individual alignment problem - is that the left drift is completely gone with the Michelins. For those interested - they fit just fine on stock 17" rims.
Oh, one more thing about the tire pressure warning light - mine would come on after driving on a H/W for extended periods of time at high speeds [
high double-digits]. Didn't happen with stock tires. I attribute it to Michelins heating up to their "working temp" [they are ZR rated and supposed to run hot?] Just my personal guess...
Lastly - be aware of your tire pressure!!!!! - with my original tires, i thought my system was being glitchy as always - until 3 days later it would CONSTANTLY come back on - on the fourth day i found out i had a puncture :-/. So dont go resetting the thing like crazy - if it keeps coming on, and you havent rotated tires, maybe its just...working? Trust the technology 