Ok, so I've tried a couple of things.
First, I disconnected the HICAS ECU - that's the small box, held in by 3 bolts, and connected to 2 plugs, right? Anyway, no loose items floating around inside. Opened it up, looks ok.
On the road, the steering is now noticeably heavier (but not like no P/S at all). And the rear end is questionable as to its stability.
Tried to check the HICAS sensor in the steering wheel - couldn't get the fn steering wheel off! Despite the retaining nut was quite loose, the wheel is firmly attached to the steering column.
I'm beginning to lean towards a worn component - tie rod, etc - being the root cause of all this. I was told some time ago that there is a bit of wear in the inner joints in the (front) steering rack, so should check that further as well.