Power steering service

I was a few blocks away from home when it sounded like the trunk was open I checked and when I got back in all sort of lights were on displaying power steering service. Fuel gauge was jumping, it was hard to turn around. Once I got home I let it sit for a few days and decided to check it out everything was off on the dash but the check engine light and the wheel was able to move freely again. I let it stay parked and finally I took it out for a drive. While driving I could tell the wheel got a little stiff was still freely but not loose like before. I noticed it comes and goes but no sound from it. Also can't check transmission fluid because of the electronic power steering system. I asked a few people and no I asked is sure about the problem.