A few updates and thoughts:
The wiring harness connector idea Chris had isn't applicable here. My errors don't go away ever during driving, they only *might* disappear if I turn the car off/on.
The G218 and PIT5405 don't seem applicable to this year/make/model.
The battery ground wire, I'm not sure if that would've been replaced already or not, they did replace the entire fuse block assembly. I could try this.
The negative cable bolts to the frame sounds promising, I'd like more information on what exactly was done here.
The issue recurred 3-4 times in the couples weeks since my second time at the dealer. Yesterday it occurred and wouldn't clear, I had to drive without power steering in a few inches of snow to drop it off at the dealer for a third time. Not fun!
The issue is far more prevalent in uneven terrain/bad traction/wet conditions. It seems to happen frequently in 4 HI or on dirt, snowy roads in recent snowfalls.
It's incredibly frustrating, I bought a truck so I'd have something that can handle these conditions. Nothing scarier than driving a fish tailing, few ton, hunk of steel down the road without antilock brakes or power steering.
Any other ideas?