Hi, I'm Cam. May I ask your first name? I am working to get you a fast accurate answer. About your vehicle, this sounds like the usual issue with the steering columns. The torque sensors fail and set codes. Cycling the key resets the codes for that ignition cycle. This will require the replacement of the steering column. If you can, post your VIN and I can see if there is a recall or special policy that will cover this.
The part is around 400 and about 100 for labour at a guess. Now the parts cost may be a touch higher or lower, and also the labour rate may change.
Still get me the VIN so I can check for you. I would not want to see you pay when GM may have this covered.