The contact owns a 2021 Ford F-150. The contact stated that while making left and right turns on several occasions, the steering wheel vibrated with the ‘Steering Assist Fault – Service Required’ message displayed. The vehicle was towed to the dealer where it was diagnosed, and a software update was performed. The vehicle was repaired but the failure reoccurred on the way to the residence. The vehicle was taken back to the same dealer where it was then diagnosed that the battery needed to be replaced. The vehicle was repaired but the failure persisted. The vehicle was then taken to the same dealer for the third time and it was diagnosed that the PSCM steering control module and steering gear needed to be replaced. The vehicle was not repaired. The manufacturer was notified of the failure. The failure mileage was 19,888.