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to get this message then one of two components are likely to be the cause of the problem.
The key module or the power steering motor is at fault. fortunately the latter is rare
often the fault will go away if you remove the key, wiggle the steering wheel and then reinsert the key
another method is to fit the key halfway and then give it a sharp tap to push it fully home
as these models have had a few iterations of the ignition switch your's may need upgrading to the later type
do you still need help?
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