CEL came on with U0420 (Power Steering Control Module)
On the way to an errand and not far from home the steering on the Compass suddenly got really heavy. Had to fight it to turn into a residential street to park and evaluate the situation. Turned off the engine, waited a few minutes, turned it back on and was able to drive it back home like normal but with the CEL on. Scanned it when I got home and got the U0420 code.
Now debating if I should have it towed in or drive really slow and take the side street to the dealer.