code C0051-28 thrown after driving for a while

I have a 2013 RAM 1500 and I get this code thrown it seems after I drive for a while, like an hour or so. When I drive around town this isn't thrown.

I have not had any work done on the truck, no alignment etc. When it throws the code I noticed the "ESC Activation/Malfunction indicator light" is on...

when I drive on trips after I stop for gas, shut off the truck, the light will stay off for a period of time but will eventually come back on. When it comes back on I noticed Cruise Control won't come on. From my research it seems I need the electronic steering recalibrated and or an alignment done.

thoughts?

Or the abs module with that cel often anti lock issue and with that code as well.

I have noticed that the code is thrown when I am driving straight for a while, it seems like my steering wheel might be just a bit out of alignment. When I drive straight my steering wheel is pointed a little towards right... so do you all think I need it recalibrated to get rid of my issue?

Did it used to drive down the road with the steering wheel in perfect straight alignment? I mean, is it worse (out of alignment) than it used to be?

The question is why is the wheel not straight now? Check your tires' pressures are even, and if that doesn't do the trick, check (or have checked) the front end steering and suspension joints/bushings/bearings/etc. If they all check 'good' then re-adjust your truck's tow ...or take it to a shop you think will do a good alignment job (note: not necessarily the cheapest place in town). The steering angle sensor is reading 'off'. It could be that the SAS needs replacing too. But get it so it 'thinks' its going straight for starters.

If you suspect or think it needs any front end work (ball joints, etc) do all that stuff before having an alignment. Why pay for an alignment twice?