Hopefully this helps. The steering column connects to the EPS at the points I highlighted in red.
From the technical guide:
The systems already familiar from other vehicle models will not subsequently be examined in depth in this document. If required, the detailed system descriptions can be found in the product information listed below:
Steering, see G12 Chassis and Suspension
I've enclosed the G12 Chassis and Suspension guide.
04_G12 Chassis and Suspension.pdf
Here's a diagram of the G12 EPS which gives you a more clearer view.
