2017 LINCOLN MKC Electronic Stability Control Esc Problems

I WAS PULLING AWAY FROM MY HOUSE AFTER BACKING OUT OF MY DRIVEWAY, AND THE POWER STEERING PRACTICALLY FROZE. I ALMOST HIT MY OTHER CAR THAT WAS PARKED IN FRONT OF MY HOUSE. THREE WARNINGS CAME UP ON THE DASH: 1. SERVICE ADVANCETRAC, 2. STEERING ASSIST FAULT SERVICE REQUIRED, 3. HILL START ASSIST NOT AVAILABLE. I HAD IT TOWED TO MY LOCAL SERVICE STATION AND HE DIAGNOSED THAT IT WAS THE "ELECTRONICS" IN MY RACK AND PINION. HE ADVISED THAT I TAKE IT TO FORD/LINCOLN, BECAUSE IT MAY, OR SHOULD BE UNDER WARRANTY. I THEN TOWED MY CAR TO THE CLOSEST FORD DEALER THAT I WAS ABLE TO MAKE AN APPOINTMENT WITH, BECAUSE ALL THE DEALERS IN QUEENS, NY ARE BACKED UP, 4-6 WEEKS. I RECEIVED AN IMMEDIATE RESPONSE: "WE FOUND THE PROBLEM. INTERNAL FAILURE WITH THE ELECTRONIC RACK AND PINION. THAT'S WHY IT IS CAUSING ALL THE WARNING LIGHTS...