DTC C1023: Pull Drift Compensation Limit Exceeded: Description
WARNING: This page is about a different car, the 2012 Ford Pickup. However, it is still accessible from the selected car via links, so may be relevant.
EPAS equipped vehicles have a control strategy which will reduce the pull at the steering wheel required to keep the vehicle traveling straight. See Pinpoint Test H - Steering System Pull/Drift/Wander or Steering Wheel is Off Center