Good info. Update to consider.
I checked the only sensorI could locate on the rack and pinion steering box. Disconected cable and attempted to remove sensor. two torx and two allen screws. The two hex would not come out. The risk of damage to the switch persuaded me to stop. ( is this switch under steering fluid preasure?)
After one drive cycle the ABS codes clered themself. The tapping on the sensor or the disconnecting of the connectorfor this sensor appears to have made the error condition disappear. How does this sensor record the the steering angle.