Does the battery need to be disconnect when removing the power steering control module?

Yes, it is always safer to disconnect the battery before starting repairs like this. Let us know if you need anything else.

I tried to start it, but the battery is dead and now I can't get key out of acc mode. Is it okay to jumpstart in acc mode? I want to make sure the battery is charged before I disconnect it to do repairs, so I don't have to jump it afterwards.

It should be okay, but you want to make the last connection away from the battery to avoid sparks. I would just remove the battery and charge it outside of the car and then have it load tested at the auto parts store. This guide can help with the jumper cables:

https://www.2carpros.com/articles/how-to-jump-start-car-battery-using-jumper-cables


Please go over this guide and get back to us.