I got DPS errors that triggered the limp home mode. The DPS seemed to be working and the dealer did not find any codes. When I increased the air pressure in the front tires from 14 and 14.5 to 18, the errors went away.
But if your steering is now hard, that truly sounds like some soft of failure in the DPS, a loose connector or something that will probably require further research.
My experience with BRP is that if the warranty is still good, they will cover the parts and labor, but not towing if the bike is not rideable (I had to foot a $325 tow for my breakdown). BRP does offer a B.E.S.T. extended warranty that does offer some towing (limit of $200 per incident).
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Dave
'11 RT Ltd.
Working on some custom LED lighting with an intelligent controller...
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