This problem for me ended up being the EPS, the entire steering assembly required replacement. I looked around and priced it with other independent shops, and the cost was about the same as if I had the Ford dealer do the work. I had my 2010 Mercury Milan towed in, 3 days later new steering assembly, alignment, oil change, and tire rotation and the car is back on the road. I watched youtube videos on changing this out yourself in the driveway, it is a big job, not something I was willing to tackle. Total cost of repair: 2017.00. Better than a car payment and I've owned the car since 2012. This is the first major repair I've had since then. Hope this helps!