Kiwi2001MGF

Once again the most excellent pscan has been at work on the 2001 MGF 1.6i

My steering wheel has always kicked to the left on startup and switch off and I have suspected the torque sensor adjustment was out.
I checked with the pscan and could see a small amperage when the wheel was straight ahead ( sorry I didnt note it down)
after following the adjustment guide with from ultimateMG using a multimeter to get the potentiometer output as low as possible with the steering wheel straight, it was another test with the pscan, then out for a road test with my wife reading the figures while I drove (0.0A when straight ahead so very happy)

One thing I noticed was that the assist percentage was still up to 40% at 50MPH when cornering, the same as i can get when Im sitting still, this makes me question if the EPAS is speed sensitive.
The Pscan shows a speed when watching the live EPAS ECU data - so its getting speed input

I also get a P0500 fault code although the speedo works.

please can someone explain what is going on.
thank you.

Am I reading this data incorrectly?