4 times a week is excessive and should be changed out. The steering wheel position sensor is an electro-mechanical sensor, much like a higher tech version of an old rheostat that uses metal-to-metal contacts to define the angle of the steering wheel. This is why it is subject to wear. Most of the wear area is in the center where about 95% of your steering wheel sits while driving. This means that if the truck is parked with the steering off center, the contacts are now in a low wear area, which is subject to corrosion and momentary loss of contact.
This is why many owners find they can minimize the warnings if they try to park with the wheels straight.
The steering wheel position sensor is a necessary part of the electronic stability control, that helps prevent things like rollover accidents. It is a great system but it does depend on these sensors. Plus, because the ESC system uses the braking and ABS system to automatically apply braking to individual wheels when needed, a shutdown of the ESC because it is not getting a good signal from the steering wheel position sensor, also shuts down part or all of the ABS system.
This is why we recommend the key bump after a few blocks if the light is on, at least until one can change the sensor.
I get the same thing on our 07, but it is only about once a month and the key bump takes care of it.