Well, being an intermittent problem, it is a bit tricky. First, if at all possile, get the steering to firm(you mentioned turning to lock). That way, you can hopefully get the problem to exist.
Locate the SARC module in the trunk. Should be on the passenger side, behind the rear seat -under the interior. Disconnect the both module connectors. Then Disconnect the ZF actuator located on the steering gear(rack) near the linkage(PITA, I know).
1. Find a good ground somewhere in the trunk. Both SARC connectors should be 26 pin. The connectors are c450, and c451. c450 has a solid orange wire and a dark green with yellow stripe wire. With the key on, check voltage at both of these wires(ORG, DG/YEL). You should have 12V at each -Key on. The DG/YEL wire should have 12 at all times.
If this check is good, you have a good power supply to the SARC module.
2. Leave all connecors disconnected. Now check for a cross short in the actuator circuit. You will use both module connectors to do this(c450 and c451). Place one lead on the voilet with yellow stripe wire in c450 and the other lead on the grey with orange stripe wire in c451. You should read "OL" or zero continuity.
3. Check each individual circuit for continuity. The grey/orange wire is circuit 86, actuatot feed. The violet/yellow wire is circuit 153, actuator return. You will need a long jumper wire for this. Check circuit 86(GRY/ORG) by placing one lead onto c451(top right-GRY/ORG wire) and the other lead/jumper wire into the steering actuator connector(2 pins-GRY/ORG wire). Should have continuity, less than 5 ohms. Now check circut 153(VLT/YEL). Place one lead into c451(top left-VLT/YEL) and the other lead/jumper into the other pin on the actuator connector(VLT/YEL). If either reads OL or has >5 ohms, you must repair the circuit(there are 2 other connectors between the SARC module and steering actuator).
4. Check circuit 86 for a short to ground(No test light). One lead in 86(GRY/ORG) and the other to a good ground. Should be OL, naturally. If circuit 153 was shorted to ground, you would have a light feel all the time so there is no need to check this circuit for a short.
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