Have you checked your power steering fluid level? I doubt that the dealer did unless you specifically asked them to or complained about power steering issues.
Hopefully that wiring issue is the problem. That looks like an easy fix.I did today. The Service Power Steering message appeared in the DIC. I did some reading and this video shows that it might be a wiring issue.
Odd, I take my car in to have the battery replaced and now my seat heaters and accessory plugs don't work. (I find two missing fuses)
I take my car in to have the spark plugs replaced and now it idols rough and I have a steering issue.
I sincerely believe that the dealership here in Vancouver WA is deliberately causing issues in order to facilitate more repairs.