Steering Rack And Pinion problems of the 2008 Lexus IS350

While stationary and in motion, while turning the steering wheel, it produces a grinding noise. While driving, the steering has the tendency to lock up/create resistance for a few seconds as a result the car wanders into oncoming traffic or into the other lane/shoulder of the road until it breaks free which then causes the vehicle to swerve out of control and I regain control. I took it to a mechanic for an estimate. The fault identified was the electronic power steering motor and rack and pinion system was no good. The car has been parked for a year because it is too unsafe to drive.