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You will need to check for codes in all the modules, like the Anti-Lock brake module, the Power Steering Control Module, The PCM (engine Computer) and the BCM (Body Control Module).
A bad Electronic Power Steering Rack and Pinion will cause all these problems you have, but I would highly recommend checking all the modules for trouble codes and also testing the module network for all the modules.
I have seen the power steering rack go out and cause this problem, but I would hate for you to replace the rack and pinion which is $500 + and find out it is a wiring or instrument cluster causing the problem. See the pin point test we use below.
Sorry, I meant this one,
The links will not work on your end. The DTCs are the trouble codes, (Diagnostic Trouble Codes) and you will need a scan tool to get the codes from the modules. Normal code readers only work on the engine computer, not the other modules.