Brake Abs Warning Light problems of the 2007 Kia Motor Sorento

I was driving on the highway when my steering wheel became really stiff like I lost power steering. I looked at my dash and had a check engine light, oil light, abs light, and esc off light illuminated. I pressed the gas to try to switch lanes as I was in the far left lane and needed to reach the shoulder to figure out what was going on, and the car would not accelerate. I turned my flashers on and was luckily able to make it to the shoulder without causing an accident. When I was on the shoulder I turned the key off and then back on. The check engine light and oil light went away, but the abs light and the esc light remained on. I started to drive back towards my house and felt the car idling roughly when at a stop. At home my husband disconnected the battery for a few minutes which solved the rough idling issue but the abs and esc lights are still on. I am now scared to drive my daughter to school and have the car shit off again. I have read similar reviews about this vehicle. Something needs to be done by kia to solve this. They recalled some vehicles for this issue but mine is not listed and clearly needs to be!.