EPS warning light turned on?

With the light on it has a code that needs to be found out Euro cars are a little different, but I would do a CAN scan which is easy. You can get a CAN scanner (Controller Area Network) from Amazon for about $36.00. here is a video to show you how. It sounds like it is the electric rack is out this what they replaced?

https://youtu.be/u-4syLc-ifQ

and

https://www.2carpros.com/articles/can-scan-controller-area-network-easy

Amazon CAN scanner link for about $35.00.

https://amzn.to/3R9lJ60

Here is how to replace the electronic rack in case you need it or what to see how the job is done. Check out the images (below). Let us know what happens and please upload pictures or videos of the problem.