2001 Ford Windstar steering problems

Fluid from power steering system leaked onto some hot engine component, probably the exhaust system, and produced a rolling fire at the rear of the engine compartment below the firewall. Vehicle was being parked in a parking space in front of a service station when fire erupted. My son who was inside the station, saw the fire and rushed out to warn us out of the vehicle. Station personnel brought a fire extinguisher and my sons (the other was driving) raised the hood and extinguished the fire.

My ABS light/brake light is on - started 2007- was told it would cost 1200.00 dollars to fix it; that it was ok to use the car in this condition. 8/14/14- replaced the wheels bearings on the front right and left wheels-after the bearings / and sway bars were replace still hear a grinding noise front the right front of vehicle. Noise becomes more pronounced the longer you drive the vehicle . Also the abs/brake light is still on when you drive the car.