Possible Causes

WARNING: This page is about a different car, the 2015 Ford Escape. However, it is still accessible from the selected car via links, so may be relevant.

For DTC U3000:4B:

Heat shield missing
Heavy loads on the EPAS gear
Excessive ambient temperatures

For all other U3000 DTCs:

Ice or frost build up on relay contacts
Steering gear internal failure
Incorrect EPAS gear installed