Might be a weird problem with the electric steering rack.
+1
Steering wheel vibration can be caused by tyres, brakes, wheel bearings or suspension/steering gear being worn out but the mechanical side of this vehicle should be relatively easy to diagnose and correct (if there are issues). I assume to date no mechanical issues that have been found.
The problem with the VF is that the mechanical side of the steering could be 100% OK yet the electronic control system side has been known to do odd things. A shimmy that occurs when the steering wheel is turned with the engine running with the road wheel off the ground definitely seems to fit the scenario of a control system issue.
As such, I'd check the steering rack motor connectors are indeed gold plated. If the steering rack connectors are not gold plated , that could be a string indication that the EPS recall wasn't performed correctly. If that's the case I'd be questioning Holden why you don't have those gold pins and why it looks like the EPS recall wasn't done (the EPS rack recall was supposed to address this problem of connectors fretting corrosion and loss of steering assistance, the gold plated pins supposedly did just that).
Being that the control system may also have other issues, I'd get the vehicle system checked for any DTC's and also perform a (software) steering calibration to ensure the system at least thinks it's working correctly. Then assess it's behaviour.
Really, at 60,000 kms, I'd be making this issue Holden's problem as their product in this case seems defective and should be addressed by them under your ACL statutory warranty rights.... And if they accept this premis and correct if gratis, I'd then bill them for all your costs incurred to date chasing this issue.
Gotta start somewhere