You probably need a new valve on the evap tank. $50 on ebay. $150 on rock auto. There are two versions. It's in the rear drivers corner. Pull the plastic and document which version you have.
The steering angle sensor requires removing the steering wheel. I think it's part of the clock spring. It's an expensive part. But there's a reset to try first. Although, it requires the use of the Consult tool. Which is a dealer thing. There was a TSB on it for pre 07 trucks. So it might be worth to call your local dealer and see if the service dept can do a thing for you.