Hi Dave,
your code is "steering **** position compensation solenoid abnormality". possible causes are connector plug sometimes gets corroded at the solenoid, the solenoid itself is faulty but ive never had one fail, harness short circuit or you have a faulty sas controller. Out of curiosity is the truck duel fuel. If so, check the connector the goes to the fuel shut off valve located over the top of the rocker cover, if I remember right, that has a common earth for the sas system and I have had the wires to that connector block break and cause error codes. The steering solenoid is located on the chasis underneath the battery, just incase your unsure where to look. You cant miss it as its fitted in the hydraulic hose lines. Hope this helps.