Could you post the actual error codes? We have some very good official Infiniti technicians here who could decipher them and give you a good suggestions based on the code. I know its what the tech's at the dealer you are at are doing, but never hurts to get a second opinion from another great technician.
Looking over the generalized problem areas, it seems to me like it is something to do with the rear active steer (RAS), be it the RAS motor itself, or one of the sensors used for the RAS system I dont know. But it definitely seems to me like something within that system is wrong. But I am not an official tech, just someone good with computers and troubleshooting. And the dealer already replaced the RAS control module... Could be something that feeds into the control module. Which would make sense since you see some fault with the RAS, an ECD (electronic control device?) which could be something to do with the RAS, and a yaw sensor error which could also have to do with a sensor to tell the RAS what to do. Just my
