This just happened to me in my X. Driving the kids to school I noticed the steering would occasionally harden up or jerk a little bit. Then just as I pulled into the parking lot it completely froze the wheel saying the car needs service and steering assist was reduced. I'm lucky it didn't happen on the highway!!
It seemed like the steering could still be manually turned with great effort, more than it would feel in a car with no power steering.
While sitting in the car waiting for roadside service to get back to me, I pressed the brake and the car seems to have reset itself and is doing power steering again.
I'm taking it in to service real soon for this. I have to say it's a pretty bad failure to have with kids on the highway.