My truck is currently and has been at the Dealership for the same thing for over 2 weeks now. They have tried the TSB PIT5405A with no success. Luckily in my case the tech was able to duplicate it (for the first time in the history of the world) and it scared the poo out of him according to the Service manager. They have tried new battery cables and a new fuse box and had some longer test drives scheduled for yesterday as that is when this typically occurs. I STRONGLY SUGGEST FILING A COMPLAINT ON SAFECAR.GOV as you have mentioned this is a very serious electrical issue. The service manager explained that the truck loses voltage which when it does that the truck forces the steering wheel back to "zero" to reset its self and thats what causes the wheel to violently jerk out of your hand. There are many complaints on this and GM is having trouble because it is "intermittent". But like yourself have noticed and explained that it does it after longer highway drives (approx 20 miles all highway) with the AC going. I am waiting until about lunch time today for an update on how the "longer" test drives went since they replaced cables and fuse box.
Please keep me updated and I have been in contact with NHTSA & GM's Executive office..which is useless since they are basically a middle man between myself and the district manager here in PA, who took almost 2 weeks to get back to him. I feel GM is dragging their feet on this issue and may cause someone to die because of it.