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Hello and welcome to just answer . I value your input to my questions so I may help you better. This is a common issue with a loose ground g103, it is under the air cleaner assembly.
Does this vehicle stall or hesitate when going reverse while steering wheel turned?
This is more complicated to diag from here so I will give you a link to proceed with this and hope it helps you, so I will opt out with hopes another expert can better assist you. http://www.vehicleservicepros.com/article/12025357/tool-briefing-can-bus-communication-failure
What module did you get the U1041 and U1059 from?
If you clear the cods out, do they come right back and do you have any other codes in any of the other modules?
Do you have a scan tool that can do a network test?
Do a network test and see what modules fail the test. The network test only checks the MS-CAN, HS-CAN and basically the communication netowkr and if the modules all communicate on that network.