Nilton, I saw you posted on 2 topic posts last year about your problem repeating.
What was the diagnosis this time around?
I have an MKX (1st generation fiber-optic Controller Area Network like the other cars listed here) that has been at dealer for 3, let me repeat this, 3 months now.
Dealer isn't willing to swap or simply unplug the existing steering sensor as a diagnostic measure, unless I pay for R&R the sensor and labor.