Okay I am an idiot. The issue is not my steering system. I am having an issue with my Abs system, I can hear the accumulator groan periodically and it kills rpms. I guess that it's trying to repressurize? The dealer wants an arm and a leg to fix it + srs problem. Is the module and accumulator something I could do at home? Or should I have them do it in case of leaks?

 

Get a scanner that can read the srs codes and go from there.