When in a crunch here is a test that has never failed me, give the steer motor a smack with a dead blow hammer ( make sure the key is on and the seat switch is activated ). I do not have a manual on that truck but the codes sound like the brushes are worn out ( wear indicators ). If the motor tries to run then your question is answered, you can pop the top of the motor ( leave it in the machine ) and install new brushes if the armature is not to bad shape. Let me know how you make out