I had to have the steering wheel replaced.
2016 Ford Edge Sport.
Had a courtesy car for 3 weeks...
No problems so far since the wheel was replaced. The steering wheel isn't as loose when turning now.
The steering wheel was turned left 90 degrees despite the wheels being straight. Turning off and on the car no longer reset it.
Had to visit the dealership when it happened. The error message needs to be on when you visit or else they will probably ask you to come back when it happens again so don't turn the car off until they see it or you risk the error going away the car self fixing itself upon turning back on.. at least initially.