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Has the steering motor been reset. Looks like it's hunting for neutral but can't find it.
From service manual;
"Particularly at high speeds, unintentional jerky movements of the steering wheel
by the driver have a negative effect on vehicle handling stability. So-called
"snatching" of the steering wheel can, under certain circumstances, cause the
vehicle to start rocking, which can lead to snaking and the driver ultimately
losing control of the vehicle if corrective action is not taken quickly enough.
The EPS detects such steering input and operates the electric motor so as to
substantially damp the movements, particularly at high speeds. As a result,
vehicle rocking is prevented."
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