1995 Ford Bronco Car stall while driving

While driving on a highway, I could feel my steering wheel become tight to turn. I already drove 12 miles from my original destination. I looked and saw the check engine light come on, I was able to navigate the car to the shoulder lane, and it was then that it my car came to a slow and then stalled. I waited 5 minutes. I was able to drive my car to a safer shoulder. I turned the car off to rest it. I then waited 15 minutes and I was able to drive it 2 more miles to my destination. I just changed my battery 4 months ago. Could it be that? If not, what should I also consider could be the problem.

should I attempt to drive it back to my house 14 miles away, or just have it towed to a repair shop to not risk any stalls on the road?

Appreciate your help!