Off the record I spoke with a few Ford company people about this issue, in person and the off the record answer was that Ford will never issue a TSB, Firmware upgrade or recall for this. The best that Ford Racing could do was offer the EPAS rack as an off road only part. Liability in changing the programming for street use and cost was given as the reasons. I cannot give up the source and will not (he would deny it anyway), but I believe the gang at Rehagen would corroborate this info.
If you have issues on unmodified street car then by all means pursue warranty repair claim with Ford, just don't expect them to give you a M-5300-EPAS rack as a replacement. If you have modified the suspension from stock expect them to fight any warranty claim related to this issue.
Steve