Vsa Warning Light On problems of the 2012 Ford Escape

Driving on the interstate at 75 mph during morning traffic during rain covered road. My traction stability and abs warning lights are on again. I was driving to a doctor appt and saw the warning light come on. I applied light pressure to my brakes and gradually came to a stop. My car has 115,000 miles when fail happened.

I was driving in town at a slow rate when my braking feel like there was born abs and my car was getting to close and I applied pressure on the pedal but it wouldn't stop. My steering wheel became very stiff and couldn't turn it. An hour later, I was driving on the interstate when my abs, traction control light and stability light came on. My car would not turn well and I was in the middle of passing a vehicle. I had no brakes at that point. This happened April 20, 2019. Clear road conditions. My Escape is becoming a big safety concern. When braking I feel my system keeps slipping in the front end and a sagging in the rear. When I drive it, I am terrified that this will happen again and won't be able to stop. Turning feelings rigid and stiff at times. A car had pulled out in front of me and had to do a hard stop on the interstate. I pressed on the brakes but the system would not stop and steering wouldn't allow to turn. I had to turn a harsh right to avoid causing an accident while attempting to drive off to the side of the road. This has happened since the 1st day I purchased this vehicle 26 may 2016 from glenbrook Hyundai in fort wayne, in.