Interesting, sorry you're having all these issues. FWIW, I had to change out my steering column at 20k miles, p/n: 32-30-6-786-254. I didn't have any signficant symptoms and the dealer diagnosed it and it was all done under warranty. What a bear that must have been. Sorry I don't have any more info, like why this needed repair...I've since realized I need to keep that information in my records.
And, as you've indicated, for vehicles with Active Front Steering (ASF), you have to set the steering angle sensor (lock to lock) to dismiss the dash errors every time you disconnect the battery...at least under nomal circumstances.
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