Possible Causes

WARNING: This page is about a different car, the 2013 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/frost build up on relay contacts.
Steering gear internal failure.
Incorrect EPAS gear installed.