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The Snap On Modis will not program the EPAS (Electronic Power Assist Steering) rack properly to the vehicle. That is why you are getting the code U2100. You will need vehicle as-built data or module configuration information which the dealership has access to on line. If it is not configured properly, you will get that code.
As Built Data is basically a configuration file of information, lines of data, that is programed into the module to allow it to properly communicate with all the other modules in the vehicle. The PSCM (Power Steering Control Module) that you installed needs to communicate with the PCM (Engine Computer) and the ABS (Anti-lock Brake) module to allow the vehicle to handle and steering properly during an ABS event (panic Stop). The dealership is the best place to have this done as the Modis cannot do this.