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2013 Ford Mustang GT Questions

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why Code PO315 won't clear on my mustang 2013 gt 5.0

In the morning when I first start the car and turn the steering wheel as I back up, it jerks and makes a popping noise. It does not do it anymore after the one time, but it does it every time I start the car in the morning. It will jerk without moving the car when I turn the wheel slightly. It was so loud a couple of times, I thought I hit something. It sounded like a hammer on metal. I have tried to make it happen after the innitial start but it does not do it. Even after the car sits for a while there is no problem. Only in the morning after it sits all night. I checked the front end and then took it to the dealership twice and they could not find anything.