The steering is a common problem, many have solved their problems by either replacing the steering box, or putting a heavier duty bracket on. Sometimes both are required to achieve desirable response from the steering.
As for lack of start unless an OBDII device is plugged in is most likely a ground problem as you found out. However, the message kwp 2000, if I remember right is a communications protocol. Depending on the Scantool that could mean that connection has failed and that is the last protocol tried for communication. I know our trucks use an ISO protocol, I think its ISO 9140, but my application just flashes the protocol before closing the console window and bringing up the dashboard.
That would indicate lack of comms to the PCM, usually caused by a blow cigarette lighter fuse in the interior fuse block. I would check there first, if that isn't the problem, check the back of the OBDII port and make sure non of the wires have backed out of the port. If it still isnt working, take it somewhere like autozone who will scan for codes for free. That will tell you if its a vehicle problem or just your tool having a problem.
