2013 Infiniti Infinity G37 Steering alignment

An alignment adjustment slipped or a part is bent, most commonly an inner tie rod end. The dealer can fix it, but a better choice would be a tire and alignment specialty shop. Very often inner tie rod ends are not available through the dealer except to order the complete rack and pinion steering assembly at a very much higher cost. Independent shops can get them from local auto parts stores.

I'm not familiar with the specifics of your system, but when there's a computer involved and it detects a problem, it sets a diagnostic fault code, turns the warning light on to tell you, and turns the system off. Given the recent history, a logical guess would be a wheel speed or height sensor got damaged or disconnected.