Invalid data received from control module gear

in limp mode ---have scanned for trouble code---you have elect power assist motor mounted under dash to steering column also known problem with the knuckle at rack failing check fuses relays and wiring circuit

All the DTC codes can be Googled. For instance

U3006-16: Battery voltage (Low or high)
U0415-68: Invalid Data Received From ABS.
U0416-68: Invalid Data Received From Vehicle Dynamics Control Module.

https://www.google.com/search?safe=off&rlz=1C1QJDB_enCA643CA644&sxsrf=ALeKk02fUFR173HHnJmLp0iqgxKRx3ATmg%3A1614534615302&ei=19c7YKL9EbPmxgHZhqjwAQ&q=ford+dtc+160782+Dtc+c40168+Dtc+c41668+Dtc+c42068

You need the transmission control module scanned for fault codes. I know the check engine light must be coming on when this happens, correct?

You'll need more then that , you'll also need a professional scan tool to check for code's in the 4X4 control module . You have no clue how this system works , do yourself a favor an take it to a qualified repair shop.
Four Wheel Drive (4WD) Systems The 4WD system consists of a power take off unit (PTU), rear driveshaft, coupling device control module (4WD control module) and a rear axle with coupling device.
4WD Indicator Light 4WD - Illuminates continuously when the 4WD system is locked in 4WD due to its heat protection mode. In the locked mode, the vehicle resists turning and binds up when driven on dry pavement. To exit the locked mode, stop the vehicle and allow it to cool for 5 minutes with the engine running. When the 4WD indicator turns OFF, normal 4WD system function is restored.
4WD - Blinks continuously when the 4WD system is disabled due to its heat protection mode. To exit the disabled mode, stop the vehicle and allow it to cool for 5 minutes with the engine running. When the indicator turns OFF, normal 4WD system function is restored.
4WD - Blinks 3, 6, 8 or 10 times every minute when the 4WD system requires service. Use a scan tool to check for diagnostic trouble codes (DTCs). Refer to the Four-Wheel Drive (4WD) Control Module Diagnostic Trouble Code (DTC) Index in this section.
Principles of Operation
The vehicle is equipped with an intelligent 4-wheel drive (4WD) system that is always active and requires no driver input. The system has no mode select switch. The system combines transparent all-surface operation with highly capable 4WD, and is capable of handling all road conditions, including street and highway driving as well as off-road and winter driving.
The 4WD system continuously monitors vehicle conditions and automatically adjusts the torque distribution between the front and rear wheels. During normal operation, most of the torque is sent to the front wheels. If wheel slip between the front and rear wheels is detected, or if the vehicle is under heavy acceleration (high throttle position), the 4WD system increases torque to the rear wheels to prevent or control wheel slip.
The 4WD control module varies the torque sent to the rear wheels by varying a pulse-width modulated current to the clutch in the rear axle. The 4WD control module also provides the brake system with its current clutch duty cycle and whether or not the brake system may take command of the clutch duty cycle.
NOTE: The active torque coupling is not repairable. If replacement is required, the active torque coupling and rear axle are replaced as an assembly. For additional information, refer to Section 205-02 .
The PTU is a gearbox that attaches to the transaxle.
On automatic transaxle vehicles, the RH halfshaft passes through the transfer case and engages the differential side gear as in normal FWD applications. The transaxle differential drives the PTU.
On manual transmission vehicles, the PTU is directly driven by a gear in the transmission. The halfshaft/intermediate shaft connects directly to the transmission differential by passing through the PTU. The PTU then drives the driveshaft at all times. The driveshaft drives one half of the rear axle clutch pack. The other half of the rear axle clutch pack drives the rear axle ring and pinion.
NOTE: PTU repair is limited to seals, gaskets and output flanges. If any of the geared components, bearings, case cover or internal shafts fail, a new transfer case must be installed.
The PTU is sealed from the transaxle and has its own oil sump. The PTU on an automatic transaxle vehicle uses 355 ml (12 oz.) of SAE 75W-140 gear lubricant. The PTU on a manual transaxle vehicle uses 350 ml (12 oz.) of SAE 80W-90 gear lubricant.
The active, on-demand 4WD system uses data from other systems as inputs to the 4WD control module. The 4WD control module uses the inputs to determine the appropriate amount of current to send to the active torque coupling that delivers the desired torque to the rear wheels. Specific inputs to the 4WD control module are:

• throttle position.
• transaxle range from the powertrain control module (PCM).
• brake system status from the anti-lock brake system (ABS).
• wheel speed from all 4 wheels from the ABS.

Some outputs of the 4WD control module are:

• solid-state clutch (pulse-width modulated signal) to the active torque coupling.
• 4WD indicator received by the instrument cluster.
• percent of torque transfer commanded signal to the PCM.
• torque request available signal to the ABS.

Heat Protection Mode During very extreme off-road operation, the 4WD system has a heat protection system to protect the active torque coupling from damage. If the system detects an overheat condition, it enters a locked mode and turns on the 4WD indicator light in the instrument cluster. If the heat in the system continues to rise once in the locked mode, the 4WD control module disables the active torque coupling and causes the 4WD indicator light to flash continuously.
4WD Indicator Light 4WD - Illuminates continuously when the 4WD system is locked in 4WD due to its heat protection mode. In the locked mode, the vehicle resists turning and binds up when driven on dry pavement. To exit the locked mode, stop the vehicle and allow it to cool for 5 minutes with the engine running. When the 4WD indicator turns OFF, normal 4WD system function is restored.
4WD - Blinks continuously when the 4WD system is disabled due to its heat protection mode. To exit the disabled mode, stop the vehicle and allow it to cool for 5 minutes with the engine running. When the indicator turns OFF, normal 4WD system function is restored.
4WD - Blinks 3, 6, 8 or 10 times every minute when the 4WD system requires service. Use a scan tool to check for diagnostic trouble codes (DTCs). Refer to the Four-Wheel Drive (4WD) Control Module Diagnostic Trouble Code (DTC) Index in this section.


Blinks Cause 3 Cluster is not receiving the 4WD indicator message from the 4WD control module 6 Invalid throttle position data received from the PCM 8 Invalid wheel speed data received from the ABS module 10 Active torque coupling circuit fault

With the engine running engine speed over 500 rpm for 10 continuous seconds, the Powertrain Control Module (PCM) did not receive any Sensing Diagnostic Module (SDM) data or received invalid data during a 1 second period.

Circuit Description
Modules that are connected to the shared communication circuits monitor for serial data communications during normal vehicle operation. Operating information and commands are exchanged among the modules. The modules have pre-recorded information about what messages are needed to be exchanged on the serial data circuits for each virtual network. The messages are usually supervised and some periodic messages are used by the receiver module as an availability indication of the transmitter module.

DTC U0401 TCM received invalid data from ECM
Conditions for Setting the DTC
The transmission control module (TCM) detects an invalid throttle position signal, engine speed signal and/or engine coolant temperature signal for more than 2 seconds.

Action Taken When the DTC Sets
• The TCM will store the DTC when a failure is detected on the first ignition cycle.
• The TCM will illuminate the HOLD lamp.
• The TCM can no longer determine the validity of any information it may or may not receive from the engine control module (ECM). Therefore the TCM substitutes default values for engine speed, throttle position, and other engine data signals.
• Transmission operation will be reduced, affecting shift points, torque converter clutch operation, and other driveability concerns.

Diagnostic Aids
• An intermittent malfunction may be caused by a fault in the electrical circuit. Inspect the wiring harness and the components for an intermittent condition. Refer to Intermittent Conditions in Engine Controls 1.6L.
• Repair any electrical circuit faults that were found. Refer to Wiring Repairs in Wiring Systems.
• Faulty ECM and/or TCM

Install a scan tool.
Turn ON the ignition, with the engine OFF.
Save the DTC and Freeze Frame information into the scan tool memory.
Perform the scan tool Clear DTC Information function for the transmission control module (TCM) and the engine control module (ECM).
Operate the vehicle for 1 minute or until the MIL illuminates.
Check the TCM for DTCs.
Is the Malfunction Indicator Lamp (MIL) On?
--
YES - Go to Step 2
NO - Repair the wiring connectors for intermittent failure

Select request DTC status from the Diagnostic Trouble Codes Information menu
Request DTC by status
Is DTC U0401 displayed?
--
YES - Go to Step 3
NO - Repair the wiring connectors for intermittent failure
3
Turn OFF the ignition.
Disconnect connector A from the TCM.
Turn the ignition ON, with the engine OFF.
Measure the resistance between terminal A17 of the TCM wiring connector and terminal K14 of the ECM wiring connector.
Measure the resistance between terminal A7 of the TCM wiring connector and terminal K15 of the ECM wiring connector.
Was the resistance the specified value for both circuits?
0 ohms
YES - Go to Step 5
NO - Go to Step 4

You won't find this information in a Haynes manual ! I know , I work for a GMC dealership , along with Chevy and Cadillac ! this information I'm adding is right out of GMC service information .
Diagnostic Instructions
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Perform the Diagnostic System Check - Vehicle prior to using this diagnostic procedure.

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Review Strategy Based Diagnosis for an overview of the diagnostic approach.

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Diagnostic Procedure Instructions provides an overview of each diagnostic category.

DTC Descriptors
DTC C0561 71: System Disabled Information Stored Invalid Serial Data Received

DTC C0561 72: System Disabled Information Stored Alive Counter Incorrect

DTC C0561 74: System Disabled Information Value of Signal Protection Calculation Incorrect

Circuit/System Description
The electronic brake control module (EBCM) receives serial data messages from the body control module (BCM), engine control module (ECM), instrument panel cluster (IPC), and the transmission control module (TCM) which are needed to perform antilock brake system (ABS), vehicle stability enhancement system (VSES), or traction control system (TCS) functions.
Conditions for Running the DTC
Ignition voltage is greater than 10 volts.
Conditions for Setting the DTC
The EBCM receives an invalid serial data message from another module.
Action Taken When the DTC Sets
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The EBCM disables the traction control system (TCS)/ vehicle stability enhancement system (VSES).

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A DIC message and/or a warning indicator may be displayed.

Conditions for Clearing the DTC
?€¢
The condition for the DTC is no longer present.

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The EBCM clears the history DTC when a current DTC is not detected in 100 consecutive drive cycles.

Diagnostic Aids
This DTC indicates that there are no problems in the EBCM. The BCM, ECM, IPC and the TCM should be checked for a possible fault.
Reference Information
Schematic Reference Antilock Brake System Schematics
Connector End View Reference Component Connector End Views
Description and Operation ABS Description and Operation
Electrical Information Reference ?€¢
Circuit Testing

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Connector Repairs

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Testing for Intermittent Conditions and Poor Connections

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Wiring Repairs
Scan Tool Reference Control Module References for scan tool information
Circuit/System Verification

1. With a scan tool, view the Invalid Signal Data Display.
2. If no invalid signal are present, view Signal Fault Data in the Enhanced DTC Data.
3. Refer to appropriate module for diagnosing the invalid message data.
4. Do not replace the EBCM due to this DTC fault.

You would need a factory scan tool or equivalent too diagnose this ,not a code reader . So do your self a favor an take to a dealership. I've been doing this for thirty years .

Well Gary , you should have it checked for DTC'S - diagnostic trouble codes . Not at a part's store , thier diagnostic tool only checks engine computer codes ! Your vehicle has a number of control modules , PCM/ECM - engine , BCM - body , ABS , Air bag , the instrument cluster has a microprocessor inside , an can set DTC'S as well. But the only way to read codes in most of these modules is with a professional type scan tool . The warning lights come on when you turn the key on as a bulb check an to let you know those systems are functioning . Could be your instrument cluster is defective or a communication network problem , do you know what a serial data bus or communication network is ? This is what the control modules share information on . Your 03 chevy has the IPC bus for data transfer from the BCM to the IPC . U codes are communication error codes .

Faulty electrical connections or wiring may be the cause of intermittent conditions. Refer to Testing for Intermittent Conditions and Poor Connections in Wiring Systems.
U2000
The IPC determines that the BCM transmitted data to the IPC is invalid for greater than 12 seconds. The IPC sends a message to the BCM via the SPI serial data in circuit indicating that invalid data was received.
U2001
The BCM determines that the IPC transmitted data to the BCM is invalid for greater than 5 seconds.
U2002
The BCM detects that the SPI serial data in circuit is less than 1.2 v for greater than 5 seconds.
U2003
The BCM detects that the SPI serial data in circuit is greater than 4.5 v for greater than 5 seconds.
U2004
The BCM detects that the SPI serial data out circuit is less than 1.2 v for greater than 5 seconds.
U2005
The BCM detects that the SPI serial data out circuit is greater than 4.5 v for greater than 5 seconds.
U2006
The BCM detects that the SPI serial data clock circuit is less than 1.2 v for greater than 5 seconds.
U2007
The BCM detects that the SPI serial data clock circuit is greater than 4.5 v for greater than 5 seconds.

Your vehicle also uses class 2 data bus .

Class 2 Serial Data Link
The class 2 serial data link allows the following modules to communicate with each other:
• The body control module (BCM)
• The electronic brake control module (EBCM)
• The integrated radio chassis (IRC)
• The powertrain control module (PCM)
• The Remote Control Door Lock Receiver (RCDLR)
• The inflatable restraint sensing and diagnostic module (SDM)
The class 2 serial data link allows a scan tool to communicate with the above modules for diagnostic and testing purposes.

The vehicle theft deterrent system is designed in order to prevent vehicle theft by disabling the fuel injectors unless the lock cylinder is correctly engaged by a mechanical key. The theft deterrent system uses the following 4 components for theft prevention:
• The lock cylinder
• The ignition switch
• The body control module (BCM)
• The powertrain control module (PCM)
When starting the engine, the PCM searches for a password from the BCM through the Class 2 serial data circuit. If the password is not recognized or not present, the PCM will disable the engine. Two modes of tamper detection are provided:
No password received
The engine will start and stall quickly. SECURITY telltale will flash on the instrument panel cluster (IPC) and then stay ON steady.
Incorrect or disable password received (More than 3 invalid passwords are received)
The engine is disabled for at least 10 minutes and the SECURITY telltale will illuminate solid on the IPC during the 10 minutes.
After the vehicle has passed theft detection, the PCM will continue normal operation.

Passlock™ Lock Cylinder
The Passlock™ lock cylinder is a locking cylinder that turns a rotating magnet past a stationary hall effect sensor. This action creates the Passlock™ cylinder data. The Passlock™ cylinder data is sent to the Body Control Module (BCM). The Passlock™ lock cylinder is interfaced with the BCM via a 3-wire connection:
• Power
• Ground
• Data

Powertrain Control Module (PCM)
The Powertrain Control Module (PCM) is located on the lower left side of the instrument panel.
The PCM communicates with the Body Control Module (BCM) via serial data over the class 2 serial data bus, CKT 1807. When the BCM determines a passed theft condition, the BCM sends a coded password to the PCM. When the PCM receives the correct password, the PCM enables the fuel injection system, allowing the vehicle to operate correctly. The PCM may allow the car to start and quickly stall during a failed theft condition.
The following conditions may cause the PCM to enter a tamper mode:
• A bad timing cycle
• An incorrect password
If the BCM does not receive a password within a preset time window, the BCM will enter a short tamper mode. During this mode, the PCM will not allow the car to operate for 4 seconds.
If the password is incorrect, the PCM will enter the long tamper mode. In the long tamper mode, the following actions will occur:
• The THEFT SYSTEM indicator will flash.
• The fuel injectors will be shut off for approximately 10 minutes.
Although the vehicle may start, the engine will quickly stall due to a fuel cut-off.
In the event of an open in the serial data communication between the BCM and the PCM, the following actions occur:
• The PCM will become fail-enabled if the car has already passed theft for that ignition cycle (i.e. the engine is running).
• The PCM may set the diagnostic trouble codes (DTC).
• The THEFT SYSTEM indicator will light continuously.
• The PCM will become fail-enabled for future ignition cycles.
If a failure occurs in serial data before the ignition cycle, while the PCM is not fail-enabled, the PCM will never receive a valid password in order to enable the continued use of the fuel injectors.

Your best bet , take to a qualified repair shop .
DTC B2947 Security System Sensor Power CKT Low
DTC B2948 Security System Sensor Power CKT High
DTC B2957 Security System Sensor Data Circuit Low
DTC B2958 Security System Sensor Data Circuit High
DTC B2960 Sec Sys Sensor Data Incorrect but Valid
DTC B3031 Security System Controller in Learn Mode
DTC B3033 Security System Indicates Tamper