How to check DTC's for power steering on a 2004 Chevy Malibu?

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vprdrvrf16

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I am trying to pull the DTC's for the electronic power steering on a 2004 Chevy Malibu (V6) and was wondering if the vehicle had a way to pull the codes without a scanner. I know that some GM vehicles require shorting 2 pins on the OBD connector, others have you hold the odometer reset button when turning the key on...
Right now, I'm getting a warning for the steering and am trying to determine whether this is a serious issue or something that I can fix / replace. I'd rather save the $100.00 to have the code pulled by the dealer.

Thanks!
 
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