Just wanted to state that a weak battery can cause all sorts of problems. First off, I've been experiencing issues with my EPS ever since I've made the change to dry cell AGM battery 3-4 years ago. At first it would be jerky. Especially at a stop or low speed I could feel the power steering losing power and struggle to keep the steering smooth. After a while it went out completely causing the EPS light to turn on on the dash every time i drove the car. After 2 years of dealing with this I sourced another low mileage EPS unit off ebay and swapped it out. No change. Then after driving with no power steering for about a year, I changed my AGM battery out for a standard wet cell battery. After the new battery, maybe a week or so later I magically had power steering again. I've been keeping my battery on a trickle charger in between drives and I have had perfect power steering going on 1 month now. Strange to say the least but my problem seems to lie with the battery. I've been searching high and low, checked every fuse on the car trying to diagnose the problem and it appears to have just been the battery. AGM batteries are cool in concept in the fact that it is dry cell and much safer to keep in the trunk (relocated battery), but I have a feeling it just isnt up to the task of a standard battery. Anyway, thats my story, hopefully for those of you with the same problem as me can solve their EPS issues after reading this.