Bought my jeep in May, I have 13K this error code comes on about once a month. If I don't clear it it will generally go away on 4th start up. The dealer wont do anything as long as it clears......
I have a new 2020 Unlimited Rubicon Recon and have used the term wandering, but the more I drive it I would say it is not wandering so much as just very reactive to steering wheel movement.