"Service Power Steering" message?

Over the weekend I was driving, when suddenly I noticed a slight stiffness in the steering wheel. Shortly after that the "Service Power Steering Drive with Care" message displayed on the DIC. About an hour after once I turned the vehicle off and restarted it the wheel was completely stiffed and hard to turn. I was able to get to the mechanic/auto technician to be checked.

After doing a computer/scanner test he got the code:
Power Steering Control Module: C055C-00 (Steering Gear Performance) and I think C0800-12 (Control Module Power Circuit - Low Input). He then did a reset and the codes cleared and steering went back to normal. About 10 minutes after driving the message came back again along with slight stiffness in the wheel. By the next morning the wheel was completely stiffed again. He then did a scan and reset, and the same thing happened again. So basically, the power steering goes and comes right back after being cleared. So, we do not understand if it's the rack and pinion, or module or some communication error. Also, my power steering is electric so no reservoir for fluid to be added.

Thanks for your help in advance with this.