I decided just to shorten the bolts and now I have finally managed to get the steering wheel to push into the fully engaged position. As I said I haven't taken the steering wheel off since I had it but would say given the length of the bolts it has never been fully engaged. A bit worrying but at least it's good now.

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Thank you all for your help and if any of you have been like me and never checked your steering wheel get it checked!