2007 KIA SORENTO Steering Problems

I WAS DRIVING ON THE HIGHWAY WHEN MY STEERING WHEEL BECAME REALLY STIFF LIKE I LOST POWER STEERING. I LOOKED AT MY DASH AND HAD A CHECK ENGINE LIGHT, OIL LIGHT, ABS LIGHT, AND ESC OFF LIGHT ILLUMINATED. I PRESSED THE GAS TO TRY TO SWITCH LANES AS I WAS IN THE FAR LEFT LANE AND NEEDED TO REACH THE SHOULDER TO FIGURE OUT WHAT WAS GOING ON, AND THE CAR WOULD NOT ACCELERATE. I TURNED MY FLASHERS ON AND WAS LUCKILY ABLE TO MAKE IT TO THE SHOULDER WITHOUT CAUSING AN ACCIDENT. WHEN I WAS ON THE SHOULDER I TURNED THE KEY OFF AND THEN BACK ON. THE CHECK ENGINE LIGHT AND OIL LIGHT WENT AWAY, BUT THE ABS LIGHT AND THE ESC LIGHT REMAINED ON. I STARTED TO DRIVE BACK TOWARDS MY HOUSE AND FELT THE CAR IDLING ROUGHLY WHEN AT A STOP. AT HOME MY HUSBAND DISCONNECTED...

EACH DOOR HANDLE IS POPPING AND I'M UNABLE TO OPEN DOORS FROM THE OUTSIDE. THE REAR PASSENGER DOOR HAS STOPPED WORKING AND AT THE TIME THE CHILD LOCK WAS ON AND I CAN NO LONGER USE THAT DOOR AT ALL. THE SEATBELT ON THE REAR DRIVER'S SIDE WILL NOT BUCKLE INTO THE SOCKET AND MY CHILD HAS TO WRAP THE BELT AROUND HIM WHEN HE RIDES IN THE BACK. SHOULD AN ACCIDENT OCCUR, NOT ONLY WILL HE NOT BE FULLY COVERED BY HIS SAFETY SEAT, BUT IF WE SHOULD HAVE TO ESCAPE SUDDENLY, NEITHER OF US CAN JUST OPEN OUR DOORS AND GET OUT! THIS IS AN ONGOING ISSUE AND IT'S QUITE EXPENSIVE TO GET FIXED AT THE DEALER. ALSO, JUST RECENTLY WHILE DRIVING THE GEAR SHAFT POPPED OUT OF PLACE AND MY FATHER TAPED IT BACK ON SO THAT I'M ABLE TO GET BACK AND FORTH TO WORK AND...

TL*THE CONTACT OWNS A 2007 KIA SORENTO. WHEN THE STEERING WHEEL WAS TURNED, THE CONTACT HEARD A POPPING NOISE COMING FROM THE FRONT END OF THE VEHICLE. THE DEALER ALIGNED THE FRONT END OF THE VEHICLE AND REPAIRED A CASTING CAM UNDERNEATH THE FRONT END; HOWEVER, THE FAILURE STILL PERSISTS. THE FAILURE MILEAGE WAS 5,000 AND CURRENT MILEAGE WAS 10,100.