Have a 2016 Edge Titanium. Had the steering wheel replaced in 2018 due to this issue. Adaptive Steering fault message showed up again in late 2020. No steering issues. Drove it for at least six months. Took it to the dealer for the latest recall on the brake hoses and aske them to check out the adaptive Steering fault. They tell me it’s now in the “steering column” and it is “kaput”. Interesting in that there have been zero steering issues and everything I read in this thread said the guts of this system are in the steering wheel. Told them to clear the code and I’ll take my car back. Ford needs to make this right.