Sounds to me like an alternator fault. When the regulator in the alternator went in each of my Sedonas, they both illuminated ABS, ESC OFF, Brake Warning, and Charging System Warning. Not having power electric steering would also make sense. Other symptoms: The rear defroster will not come on, and the fan speed won't go all the way up.
My Garage has: 2006 Sedona EX 3.8L, Loaded, 203k miles----2006 Sedona LX 3.8L, Convenience Pkg, 240k miles----2007 Optima EX 2.4L, Loaded, 84k miles----2007 Rondo LX 2.4L, Convenience Pkg, 51k miles----2009 Amanti 3.8L, Loaded, 58k miles