It may be the yaw rate sensor, it may be the Steering Angle Sensor (SAS). You may need the Steering Update Kit called out in this Service Bulletin:
https://static.nhtsa.gov/odi/tsbs/2020/MC-10181946-0001.pdf
The issue is that the SAS and yaw sensor readings do not agree. The SAS says you are pointing straight ahead, and yaw says you are turning, or vice versa. This will often point to a yaw rate sensor problem, but in fact it may be the SAS at fault.
In my case, to fix it I needed both the Steering Update Kit, to prevent the loose connection between the SAS and Pittman pivot; and a replacement SAS, as mine was not giving consistent settings. BTW I got a used SAS, way less expensive, and it worked fine.
You don't really need the locking tool. There is a procedure in the service manual for resetting the SAS without it, basically rolling the Ryker forward and backward to get it pointing straight ahead, then resetting SAS and yaw rate sensor. It worked for me. I did not get the error codes, but had the left turn wobble issue, and this fixed it.