I have been researching your concern and now have a bit of information for you...Let me know if you are missing any info or need an explanation of anything posted here...
Ok, Have you inspected the EPS wiring? I have seen issues where rodents have damaged the wiring for the Electronic Power Steering. The harness in question is the EPS Jumper harness. This harness runs from the Electronic Rack and Pinion unit to the body of the vehicle just above the suspension crossmember. Here is a drawing showing the location of this harness. Inspect this harness carefully for damage or issues. --->> Click Here to view <<---
I'm also posting a wiring diagram so you can be sure to check the correct fuses. One fuse that needs to be checked is a 70 amp fuse. This fuse is connected directly at the battery check to be sure this fuse is good.
Wiring Diagram --->> Click Here to view <<---
Here is some diagnostic info for the U0131 codes. IF you don't find anything with the visual inspection run the U0131-87 diagnostic procedure, this should help you get to the root cause...
--->> Click Here to view <<--- U0131-87
--->> Click Here to view <<--- U0131 (in pcm)
Let me know if you will be needing step by step help with this. If you do, I'll be happy to help...
Keep me posted and let me know if you have any additional questions...
If you need additional information, don't hesitate to ask, I am happy to help as long as necessary to help solve your concern. Remember, a "Positive" Rating will not close this question, You can post a reply here whenever you want, even after rating my answer! .