Not sure actually. For a start we had a torque code pop up.
Also, turning the wheel to the right all was good. Turning very gently to the left was ok, but turn it quickly to the left and it failed the EPS and kicked back, indicating it didn't like the sudden torque loading. Never any of that random twitching.
That video is telling me the EPS ECU is getting continual inputs telling it that the steering column is turning and its trying to adjust for them all.
As always................... what codes are there?