Had the steering looked at last summer under the recall. I don't know what action they took, but afterward, the steering still intermittently was locking up on start. The problem would clear up after rolling a few feet.
Yesterday morning I had a complete failure on startup and finally got the "Power Steering Failure" error message. I shut off the vehicle and restarted and the fault cleared and power steering worked.
I called a nearby dealer last night, gave him my VIN, he searched and told me it sounded like the controller needed to be replaced. So, it goes in on the 10th of November to have this hopefully fixed for good.
Ford says this is a failure of the power assist, and the vehicle could require much more effort to steer. I've driven vehicles that had hydraulic power steering that failed. When it does, it is tough to turn the steering wheel, but you can turn it. There was little way I could turn the steering wheel with the electric assist unit's failure.
The first report of a power steering unit failure I remember reading on this site was the guy from St. Croix whose wife had an accident when the unit likely failed, and she couldn't negotiate a curve. I can definitely see how that would happen. The steering wheel became almost impossible to turn, even with both hands and a lot of effort, and I'm a fairly big guy. For a smaller person, you'd be screwed.