I'm not sure if this has been mentioned before, couldn't see it in the various threads I read before finding the solution so thought I'd post in case it's of use to someone else.
I had problem with my EPS, it turned out that one of the positive battery leads was loose and the EPS warning light on the dash came on as a result. This particular lead has it's own 70A inline fuse, does anyone know the fuse number and what other functions it controls?