this sounds like a fault with the electric power steering
I'd 1st try pulling the fuse (marked EPS) and see with the ignition on if you can then move the steering normally ( it will be heavy) then set it so the wheels are straight ahead and turn the ignition off and replace the fuse
if that doesn't help then its likely that the steering position sensor is faulty ( located at the top of the steering wheel) and this will need dealer level software to replace it and calibrate it
do you still need help?
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