Power Steering Fault Assist message

Periodically (it's happened 10 times since December), when backing up out of a tight parking space where I need to turn my wheel all the way, the wheel suddenly locks up and a warning message pops up on my info display that says "Power Steering Fault Assist". My owner's manual tells me to put my car in park and turn it off for about 15 seconds, then turn it back on. This has worked for me every time, and the message disappears and I drive off like normal. I took my car in to the Ford dealership to diagnose the issue last week, and they said I need a new electric steering rack, which is $2,100.00. I did some research online, and I am not experiencing any of the symptoms for a failing electric power steering rack, and also read that mechanics often resort to this solution when they cannot figure out why the Power Steering Fault Assist message appears. My question is, could there be another problem, like a glitch with the computer system that generates this error, or?