Es código de dirección,probable cable dañado.a simple vista no se aprecia..saludos!!!

Code G4- Open detected in steer motor control circuit.
Do you have another truck like this. You can swap out the vehicle managers one at a time and test them. You can also pick up the truck with a jack set it down and unplug the harnesses around the steer motor and plug them back in. Check for broken wires.