I have a 2005 Jeep Grand Cherokee limited with the 5.7 liter Hemi motor in it I get code DTC p1521 that code P0700

SOURCE: 2005 jeep grand cherokee limited 5.7 hemi vehicles hesitates

The egr valve is located on the front of the right cylinder head. It has a tube attached to it and going to the intake manifold.It has failed and is why your jeep is running rough and hesitating. Replace it and it will fix your driveabllity issues. Disconnect the battery for 2 min to clear the code.

SOURCE: 2005 Jeep Grand Cherokee (HEMI) Service Electric Brake System

Problem is a faulty Steering Angle Sensor (part of Steering Module) located in steering column ...replacement part $600.00.

SOURCE: Jeep Grand Cherokee Limited P0700 diagnostic problem

P0700 means there is a transmission fault code in the transmission controller. Since the transmission controller doesn't have a light attached, it tells the engine controller to turn the light on using this code. You'll have to access the transmission controller to further diagnose the problem.

SOURCE: 2001 Jeep grand cherokee motor knock 4.7 motor

First, if the noise is from the upper part of the engine and is more of a tapping than a knock, likely you have a problem in the valvetrain, most often a bad lifter or worn rocker arm. If the noise is low, deep inside, the noise is from a bearing. This is generally accompanied by lower than normal oil pressure. Regardless of the underlying cause, correcting the cause will not stop the knock. To do that correctly, the engine needs to be removed and all crankshaft bearings and the crankshaft itself need to be replaced (crank can sometimes be "undercut" and thicker bearing shells can be used depending upon the amount of wear.) If caught very early, sometimes only one bearing can be replaced in-car, but in 99% of all cases I have ever seen, most will fail again, sometimes more severely if done this way.

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SOURCE: I have a 2005 jeep grand cherokee limited 5.7 hemi

Brake Booster & Master
What does that have to do with the Electronic Brake?
Who is doing the diagnostics there?
You go to factory manuals & study the systems with the
fault or codes BEFORE you even approach the vehicle
to work on it.
I don't have, nor have I seen your vehicle, but mine has
a motor under the back that applies the parking brake
The mere name (electronic brake ) tells you something.