Exactly that happened to my S40, I changed it out in about 20 minutes, it's easily accessible, the code went away and hasn't come back since.

Hi. So, on cold mornings as I turn the wheel I get no power steering assistance for about the first 5 to 10 degrees. As I turn harder to get it to move the power steering suddenly kicks in and since I'm pushing hard the steering (and the car) then jerks over in that direction until I can react and c...