Well the problem of shaking was also when going straight so I scratched the possibility of a steering problem. Ok so an update truck was parked forever due to waiting on drive motor encoder, got the wrong encoder from our supplier sent back and finally got the right one. The reason I order that encoder was because I got a random 2H code, lotta oil was around the encoder which led me to believe that oil got inside the encoder cirtuitry. Took motor apart replaced encoder and voila. FYI I opened the old encoder and oil was inside. I guess the oil seal wasn't doing its job.

it is very common for you the get shorts in wire harness that only affect the truck while turning just right. if you didnt have a code, i will bet you anything the wires on the electric brake are the problem (did you hear a clicking sound). if not then it could also be the speed encoder wires that will also make the brushless motor shake due to wrong pulses from the encoder that test good when you dont have strain on the wire bundle.

Well I replaced the stiller encoder and still doing the same problem, all is left is the steering motor encoder.

Thanks Joe, I checked the stiller encoder 1 and 2, and I got some bad results on stiller 1 the highest value was like 266, and some erratic values, on stiller 2 the highest value was 296. I am taking voltage reading right now to see what is actually bad, this is my first time seeing this problem, so thanks for the info.

Remember, the tests through the truck are really just a sampling of the signals/voltages so on most items it could test good and be bad. Did you test the encoder behind the steering wheel? I would lean more towards that being the culprit. It doesn't sound like a bad ring gear but you can check that by jacking it up and steering while checking run out.