Even though the test for the steer encoder passes, the encoder still could be faulty. Also, if flash ware has not been updated recently, you might should try that. Raymond had a lot of issues with random GDs on earlier versions of flash ware. If you flash ware is current, I would put a new steer encoder bearing in it. If that doesn't fix it, it could have a faulty steer amp. Also, worn ring and **** could cause this code. Worn steer motor brushes could also cause it.