2013 Hyundai Veloster drivetrain & axles problems

I have a hyundai veloster 2013, I noticed my brake light came on the dash on monday but went off. Tuesday morning when I was backing out the drive way my car got stuck in reverse. The car that was coming almost hit me he had to run off the road. He then got out the car and helped me get it back in to park. It took us about 15 mins to get it. I took it to the hyundai dealership they didn't even try to fix it he told me to go home and they will give me a call if they get a apt open.

When I entered the car and turned it on the steering wheel was locked . The engine was running and I could put it in gear but the steering would not turn. After I restarted the car a couple of times the problem was corrected but I am worried this will happen while driving and might cause a crash. This problem was repeated in 2 different occasions. Another issue that happened twice was that I would put the car in reverse and it would not move. Same issue was resolved .