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2010 Lexus GS350 - Intermitten Electronic Power Steering malfunction

In the last 10 days 4 times i have had the Electronic Power Steering malfunction come in when i start the car. The problem is intermittent and goes away after sometime. I Have taken this to the Lexus dealership a few times and based on the problem code in the history they have come up with potential failures in 3 parts ( Wire Engin, Computer As, Link ASSY, O) - But since they are unable to fail/re-create the problem, they are unable to diagnose that part that is failing.

Any help is appreciated. Has anyone seen this type of issue before?

Current mileage on car is 34,000