I think I had this one once. It was the bolts that hold the drive unit in came loose or sheared off. When you would steer the truck to the left the unit would bounce back and set G2

Thanks for the reply Joe, the ring gear seems to move freely, I will check the gear on the steer motor for play. I'll give you a little more info I found out today, it seems to only code when steering to the left past center steer indicator and will code while traveling or at a stand still. Could it be a mast cable ? Thanks again Joe

G2 can also be caused by binding in the ring gear or a loose steer motor gear.