Steering wheel ticking

[S55]

A ticking noise started on my car but it was hit or miss like i’d turn off my car go chill and then when i’d go back the ticking was gone then later on when i’d start up the car the ticking is back and just yesterday while i was driving it was ticking then the ticking went and a steering malfunction light came up so i went and pulled over started up the car again. And saw all driving assists were turned off. If you’ve experienced this please help me cause i’m struggling to diagnose the issue and people have been telling me it’s the steering rack but i’m not sure.

Edited 4 hours ago by S55