Multiple problems which may or may not be related re: ESP and steering issues

What is your question?

ESP off light on dashboard staying on majority of time. Steering intermittently felt as though no control. When driving high speed on curve tires did not turn with the wheel turn. Steering wheel no longer horizontally level; when turned right, the wheel remains turned to the right though tires are straight; same for left turn. Now car is inoperable as steering wheel will turn, then lock, then turn, then lock; steering column making weird knocking noise; wheels not turning properly; also knocking noise coming from under hood passenger side. Any thoughts?