Steering Issue jerking while turning at low speeds

[F3rr3t101]

I have been trying to find information on an issue that I am having with my 2019 G70 3.3T AWD and continue to come up empty handed. My vehicle has been experiencing an issue where the steering wheel seems to jerk against the direction you are turning and then feel heavy in the opposite direction until it inevitably does the same thing but the opposite direction. It does not seem to want to hold straight and it definitely feels like an electrical power steering issue. Before it is asked, yes the lane assist has been completely disabled for a while now so I know that is not influencing it. It started as a small thing where it happened once, reset itself and then went away. It then progressed to happening more frequently, and now it happens almost guaranteed in a slow turn, to the point where I've grown used to anticipating it. Recently the issue has developed even worse to where the car is virtually undrivable. If I turn and then stop and take my hands off the wheel it essentially spasms and turns back and forth until I grab the wheel to stop it. I took it to the dealer and they ran some tests and thought they had fixed it by resetting/recalibrating the steering positioning sensor, however, soon after the issue came back. They told me I need to replace the entire rack and pinion assembly because the computer is built into the part and quoted me 8k+ for the job. I wanted to through it out on the forum to see if anyone could give me some other tips to look into.