I just had the same thing happen to me today with my 2019 Trail Boss. "Service ESC" and "Service Power Steering, Drive with Care". My steering wheel was completely stiff - no power assist at all. I called the dealer. They had me turn off the truck, pull the key, open and close the door and then sit there for about five minutes. After that, everything worked fine. They want me to bring the truck in for a diagnostic.