I think I posted this in the wrong forum before, I apologize for those of you who re-read it. I have been getting these codes (C1287/C1286) for 2 years, intermittently. The dealership (http://www.cadillacforums.com/forums/#) couldn't find anything a year ago, so I just clear the message every time I get the Service Stability System message. Now it feels like I lose control of my car while driving over 50 - it's like a floating sensation (similar to driving on black ice). I was unable to find much info on these codes on the forum as far as repair estimates, self-fixes, etc., but here's the description of the codes:

C1287 (current): Steering sensor rate malfunction
C1286 (current): Steering sensor bias malfunction

Do you think the problem could be Stabilitrak? or shocks? or struts?

I also had the P0741 code and that one has a LOT of info to read on this forum. Thanks for that!

Well, since no one responded to this, I just bought myself a new car. Kidding, of course. But seriously, I did buy another car, and is there any other car but a Cadillac? I purchased a 2004 Deville. Anyone who knows how to fix the problems want to buy my old one? (If I'm not allowed to say that on this forum, I apologize).