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: 06 Sedona EX 3.8L, Loaded, 225k miles----06 Sedona LX 3.8L, Convenience Pkg, 246k miles----07 Optima EX 2.4L, Loaded, 93k miles----13 Optima Hybrid LX Convenience Pkg, 3k miles----09 Amanti 3.8L, Loaded, 71k miles----14 Forte EX Prem+Tech Pkgs, 23k miles