Well I read most of the posts on this issue and it looks like my dealer correctly diagnosed the steering lock assy as the culprit, according to most of the info that I read on the other treads. I just called them and confirmed that they actually ordered the right number - the one that ends in "D". Hopefully that will take car of things. The tech said that he was 95% sure that it was the steering lock assy, but there is a small chance that it is the IPDM. Either way, if the assy doesn't fix it they will then replace the IPDM.
I can't stress enough how helpful this forum can be when issues like this come up. Here I was thinking that this had only happened to me. It's great to hear that others have had the same issue and can enlighten others regarding the correct fix.
A big thanks to everyone that helped!
AZ