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My name is ***** ***** I am a professional here at Just Answer. I noticed that your question had not received a response and thought I would see if you still need help with this.I apologize for the delay and I hope I can still assist you with this here.
If you have any fault codes that are setting in the ESP or any other computer if you can post the code info here this will help.This may be a fault with a steering angle sensor or another sensor acting up possibly causing this as I have seen before.If you can post any codes here this will help just let me know.
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I see the code 1876 is a fault with communication with the traction control system.Code C249F indicates a fault of operating time of the hydraulic unit/brake hydraulic unit.Code 9027 is a fault with the heat exchanger shut off motor.This code wont cause the steering issue here but usually the heat control valve needs replaced which is usually connected in line with the heater core hoses near the windshield and is a common fault.
This sound like a fault with the brake hydraulic unit for the other two codes here.With this at fault this may be limiting or affecting the way the vehicle steers possibly as I have seen before.I have had to replace this before for various issues similar to this here.
The SBC is very common to fail as I have replace allot of these.In fact a dealer has a special adapter they connect to it directly that connects to their computer to check it for failure and they fail commonly.This is most likely putting the vehicle into a fail safe mode causing this issue here.
Your welcome,let me know if you need anything else and feel free to rate my help here.