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I have received my car back this evening from the main dealer. They state that the fault had been with the left hand indicator stalk and this had affected the steering angle sensor so that various confused signals were being sent between them causing the issues experienced.
The stalk has been replaced, the steering angle sensor reset and they believe this has resolved the issue. I've only driven a couple miles home; it was fine but I guess time will tell. I will report back if I have any further issues!
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