I had this same issue and resolved it with a small hammer!
Remove the plastic steering column cover at the bottom, extend the steering wheel to it's fullest extent and pull it up to give yourself a bit of room and then repeatedly tap the steering lock module with reasonable force whilst inserting the key.
It's a metal (Volvo branded) part which sits under the steering column (see pics).
I've learned that it sometimes seizes and can be freed up again with a hearty tap. The suggestion is that if this resolves it, you should replace the part, which should be relatively straight forward and cheaper than LR's many software related 'fixes'. Or, just carry on driving round with a small hammer in the glovebox in case it happens again!
I had to keep whacking for a good 5 minutes before it worked for me but eventually I heard the familiar Zzzzk sound of the module unlocking when I put the key in one time and lo, the error was gone and the car started.
It has happened again one time since, and a hearty tap, then key out & key in sorted it once again...
I've put a couple of pictures here, taken from the foot-well pointing up at the part in question, which I hope will help.