Just thought I'd add that it looks like I had the same issues fordfanatic described.  They say my Steering Angle Sensor (or something like that) needs replace.  Since I only have powertrain warranty left, I have to pay for this out of pocket.  It's going to be like $315!    Anyone have any ideas how I could get this done cheaper???  For the time being I'm just going to do without.  The tech said it wouldn't damage anything, I just might not have TC.