Power Steering Light On problems of the 2010 Toyota RAV4

My car is Toyota 2010 rv4 sport. This morning when I start engine, the symbols of "electric power steering system warning light , abs, airbag, breaker , slip indicator warning light" on dashboard all lights on. That's never happen before. And when I was driving, the steering wheel become heavy. I was so shocked and go to a local auto service store, they check and told me this is electronic steering motor issue. They adjusted and wheel back to normal now, but they also mention they can not guarantee the same situation will be back or not. And they recommend me try to avoid drive on freeway ( but this is impossible if you live in California). I was told the same problem happen on Toyota recall group but not including my car's make year.

The contact owns a 2010 Toyota Rav4. While parked, the contact noticed the steering wheel had become difficult to maneuver. The power steering warning light illuminated on the instrument panel. After restarting the vehicle the power steering resumed normal functionality. The failure recurred intermittently. The vehicle was not taken to the dealer for diagnostic testing but was repaired. The approximate failure mileage was 4,000.