The fix depends entirely on the root cause. Here are the proven solutions, from least to most expensive.
A dying or weak battery (below 9.6V during crank) can cause the EPS module to lose its steering angle sensor neutral position. This often sets a temporary . Clearing the code after a battery recharge sometimes resolves it. honda 27-01
If the steering wheel is not centered while driving straight, the sensor may report a "malfunction" because its readings don't match wheel speed data. 2. Alternative: 4th Clutch Pressure Switch (Transmission) The fix depends entirely on the root cause