Impending or intermittent EPS failure

My 2016 Ford Fusion SLE is somewhat hard to steer or feels like it has a pull in the steering wheel every once in a while on start up and the "Service Advanced Traction" and "Hill Start Assist Not Available" dash lights come on during the hard steering. I lived it up and it caps my EPS is probably having issues. Does anybody know or have experience with what this issue is specifically and how much it might cost to fix? Thank you for your time and any advice.