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After two years, our 2016 CRV recently started showing intermittent "jerky" steering at interstate speeds. Making small steering direction changes, typical of straight away driving, are jerky with "stiction" like resistance. Sometimes the stiction is only in one direction with smooth steering in the other. When this happens, it persist until the ignition is turned off. Sometimes reoccurs on starting the car and sometimes not. When occurring, the steering will not return to straight tracking automatically at the end of a curve, but will continue on the curved path.
 

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2016 CRV Touring AWD
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It's an electrical/electronically controlled system. I would not hesitate to go to the dealer. Pre-arrange for a loaner as they'll want to see the problem for themselves. Steering problems are definitely not good.
Does this only happen when you are cruising on the highway? Is it a Touring with ACC etc?
 
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