general problems of the 2011 Toyota Venza

While I was trying to turn into the driveway of a relative apartment, the steering wheel got really tight and eventually locked up giving very little to no time to pull over for safety. The engine then shuts down. I cannot imagine how dangerous it would have been if this had happened while driving 65mph plus on a freeway. I've had the steering wheel locked up on me before while the car was parked and engine off, and I was able to get it unlocked by moving the steering wheel back and forth. However, this was the first time and a scary one where the steering locked up while the vehicle was still moving. I was lucky we were at a residential area when this happened. If this had happened on a freeway where other cars are zooming by, how dangerous is it to have a vehicle to all of a sudden locks itself up and shuts down giving practically no time to pull over? I should mention though that the battery light did just come on about two and half to three hours before the incident happen. Even so, I don't think it's normal or safe for such a short warning period.

Seats rubbed on console. Strong electrical burning smell. Drivers side heated seats no longer operate. When in reverse and turning steering wheel loud squealing noise and thumping until placed in drive. Went to several dealerships who said they could find nothing wrong. Drivers side sun visor fell down and blocked ability to see when driving.