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Checking the EPS system is a lot more complicated than inspecting the spark plugs, so I suggest you take it to the dealer the next time the EPS warning light comes on. Yes, drive it to the dealer with no steering assist... Needless to say, be careful doing so.
Better yet, when the EPS fails again, have a tow truck tow you to the dealer with the engine running (so the EPS warning stays on). I believe the Honda people needs the warning light turned on to get the DTC.
Your basis to decide on whether to go back to stock depends on the dealer. Some dealers are cool about most mods... others are PITA. I presume it is still under warranty? If it's worth fixing the EPS without any hitches, by all means, switch back to stock tires/suspension if you still have them.
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