As reported to the FAA. Reports are unverified, and codes are left as the FAA publishes them.
What was found
ENCOUNTERED AN AMBER WARNING MESSAGE FOR THE NOSE WHEEL STEERING INOPERATIVE ON DEPARTURE, AT APPROXIMATELY 500FT AGL. CREW FOLLOWED QRH. DECLARED EMERGENCY AND LANDED WITHOUT INCIDENT. INTERROGATED PSEU, NO FAULTS FOUND. BITE CHECK PASSED. CLEANED SENSORS, OPS CHECKED NWS SYS GOOD.