Power Steering Light On problems of the 2020 Toyota Highlander

After leaving a shopping center on February 29 2020, we pulled out onto a road to head towards home. We were driving about 45 miles per hour in traffic and received a notification on the screen that said the engine was off, put car in park. There was also a warning light that came on for the electronic steering assist with an exclamation point. We were able to coast to the side of the road trying to maneuver through traffic of 4 lanes. We put the car in park and attempted to start the vehicle. It would turn over, but not start. We called Toyota roadside assistance and told them what happened and they said it would take about an hour to get to us and tow the vehicle. After about 15 minutes we decided to attempt to start the vehicle again. It started, and the vehicle steering warning light came on, but then went off. We called roadside assistance and told them we were going to attempt to drive to the dealership where we purchased the vehicle which was only a few miles away. We left the vehicle there to be checked and so far they say nothing has been found but are checking further and testing the vehicle but so far have been unable to duplicate the occurrence. It only has 300 miles on the odometer.