VSC/TRAC light & engine light on & steerling wheel locked up driving this mornin on 2011 Toyota Camry

Had my oil changed and tires rotated Tuesday. Shortly thereafter, check engine light came on as well as VSC/Trac light. Ode day later, I was making a right-hand turn and my steering wheel began to lock up on me. I pulled over, turned the ignition off, waited a few seconds, and restarted. Seems to drive fine now but lights are still on and I'm concerned it could lock up again at any time.

Asked by for the 2011 Toyota Camry
have all those systems scanned for codes and post so we can adv. its still under warranty so i would visit the dealer and not mention the rotation and see what they say