DTC U0104-87: Lost Communication With Cruise Control Module - Missing message: Action

NOTE: This DTC can be set by either lost communication over CAN or by the ABS receiving an invalid brake demand pressure from the Adaptive Speed Control Module

Check for Adaptive Speed Control Module related DTCs
Refer to the electrical circuit diagrams and check the power and ground connections to the module. Using the manufacturer approved diagnostic system, complete a CAN network integrity test. Refer to the electrical circuit diagrams and check the CAN network between the Adaptive Speed Control Module and the Anti-Lock Braking System Control Module