DTC C102D: High Friction Inside Power Steering: 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.
The power steering control module (PSCM) monitors various inputs and outputs of the electronic power assist steering (EPAS) system in order to keep the system operating at peak capacity. See Pinpoint Test F - DTC P07AE: Transmission Friction Element G Performance/Stuck Off - Component Failure