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At idle and while driving with the steering wheel centered the steering wheel would twitching/shaking. Weirdest thing I have seen.

Replaced with part CL84-3F818-BA. The part is actually a ford part based off the ford escape. You can see it on the instruction at the end of the video.

Part numbers can be found here. I bought the genuine part as I didn't want something cheap.
Genuine Ford Part - https://amzn.to/3KWFSLA
Aftermarket - https://amzn.to/41xYokQ