2005 AUDI S4 Steering Problems

I WAS ON MY WAY TO SUBSTITUTE TEACH AT AN ELEMENTARY SCHOOL IN SANTA CRUZ, CA AND SO WAS IN THE MIDDLE OF A LOT OF EARLY TRAFFIC AT A LEFT TURN SIGNAL WHEN I HEARD A VERY STRANGE RUMBLE. I THOUGHT IT WAS ANOTHER CAR AS MY CAR HAD JUST BEEN IN FOR A 95,000 MILE SERVICE A FEW WEEKS EARLIER. HOWEVER, PART WAY THROUGH THE TURN I WAS ALMOST UNABLE TO STEER THE CAR. I HAD TO FIGHT THE CAR TO KEEP IT FROM HITTING A BICYCLIST AND TO GET IT OFF TO THE SIDE OF THE ROAD WHERE IT THEN STOPPED STEERING AND DIED. AT THAT POINT IT WAS BLOCKING TWO CARS IN A DRIVEWAY, BUT I COULD NOT STEER IT AT ALL. THIS WAS ON THE STREET DIRECTLY IN FRONT OF THE DEL MAR ELEMENTARY SCHOOL. I CALLED FARMERS INSURANCE AND MONTEREY PENINSULA AUDI WHERE IT...