It looks like my problem is the angle position sensor, maybe after doing suspension work.
I've recalibrated it, and it seems to be working a lot better now.
The trifecfa still comes on, but a lot less than before, and often time when I start the vehicle the trifecta is there, but when I start driving, it disappears. I ordered a new steering angle position sensor and now just need to find time to replace it. I'll take the old one apart to see what it looks like inside.