I am just a mom helping my son with this car , Battery went dead , so I changed the battery, right after that the Brake light came on, then the light that says Ranger Rover will be lowered came on. Car drives totally fine Except some times when I turn to the left it shudders. Doesn't do this when turning to the right..It feels like the left tire is rubbing something but it's not. I changed the brake switch, I checked brake pads, I checked the brake fluid all is good. This is a 2006 Range Rover sport with 162,000 miles on it . The alternator has been replace, the compressor has been replaced. Someone said it could be rear differential (which would cost more to fix then the car is worth) or it was suggested there were few other options to check...? Any suggestions from anyone?
Additional info------ after the whole battery going dead, etc there were 39 codes they are all cleared except the following:

UO416-94 Invalid data received from he vehicle dynamic control module
B1802-28 Low frequency coil
U0428-68 Invalid data received from the steering angle sensor module
B1C57-14 Volumetric alarm power circuit
U0126-87 Lost communication with steering angle

HELP........