Saw this in another forum. I know it states North America (the UK ZR-V is the US HR-V), however, a member from Australia who owns a ZR-V posted they had just received a recall letter about this from Honda Oz. May be worth UK ZR-V owners checking with Honda UK to see if this also affects them.
https://www.ntd.com/honda-recalling-2-m ... dium=email
Honda US Issue Steering Recall