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Steering wheel turning but not the wheel

Amtexas24

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Jan 30, 2020
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Genesis Model Type
1G Genesis Sedan (2009-2014)
2010 4.6 A/T 125k

I got in the vehicle the other morning and the auto hold light was flicking along with my dash and Navi. I reset the vehicle and the light disappeared but when I attempted to turn the steering wheel in drive it got stuck halfway before a full rotation. The wheels did not turn at all and made it seem like the car was only going to go straight. I left it alone and headed out for the day and the problem disappeared when I tested the car out that evening. This morning the problem has reappeared along with the vehicle feeling hesitant to speed up properly. The battery checked out fine with no need for a re charge, if anyone has any insight I would appreciate it! (Also my alternator is only 5 months old)
 
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