Random hard steering?

Sometimes the steering wheel light will come on, on my van dashboard while I’m driving and the steering wheel become hard and the abs light and the brake lights and the traction control light will also turn on and it also said on the screen have your vehicle check by the dealership and when I pull over and stop the car the battery would always dead and I have to use a jump cable to get it start and when it start all light goes away and everything returned to normal... Sometimes this issue Doesn’t happen for a week or two but it keep on randomly pop up... Any advice please. I have a scan tool when I plug it in it give me a code u0129 no communication with brake system.