DTC B1304-04: Electronic Power Assisted Steering System - System internal failures: Action

NOTE: When the repair is complete, clear DTCs, close session and then upload the session file to JLR. Failure to follow this instruction may result in a warranty claim becoming invalid

Using the Jaguar Land Rover approved diagnostic equipment, re-configure the power steering control module with the latest level software
If the steering fault persists, install a new steering gear as necessary