[Bmw34023]

Ive been having steering wheel issues where sometimes its hard to turn on low speeds especially trying to park got these following codes. The exhaust sensor not worried about going to order a new sensor but this other code i looked up and it says has to do with cam timing? Is this can be related to my steering issues? Googled servotronic and says it is but i just wana make sure thanks! [IMG][/IMG]