I have always had the car adaptive mode in sport under the menus since the first week I got it with 28 miles on it. I recently took a trip to Kansas from CA and then back through CO, WY, UT, and CA. I was visiting my relatives in CO and at night went to move the car off the street for the night and got the error then parked it on the driveway having to obviously turn the wheel way more then normal, preceded to turn off the car and start it again multiple times never making it turn off the light and no codes in engineering mode either. Went to bed, next morning it was okay (steering felt firm and ratio changed again) and no error and I drove the 500+ miles back to CA. Next day back I got it again starting the car to get gas and went and got gas then stopped off at the dealer to find that I was still on Mountain time (oops) and they were closed so I tried turning off the car and was like why not and while it was off tried to make the car lock the wheel and it felt like it got stiffer but never locked in place (Does it even lock?) and after the stiffer feel I started the car and I have not had the error since so it seems more software for me as the wheel never had any grinding or codes that it stored. Here are picks I took of it when I remembered to along with my manufacture date.
Malcolm