[Overdrive]

Agreed. If it shows up again then it could very well be the module being intermittent and needing replacement. Sure, the part isn't cheap, but I think what's likely to work out to less than a grand in parts and labor is worth the peace of mind that the power steering won't cut out in a situation that would affect the driver's control and make an accident possible. If it's not an enormous job, you could also DIY and only have the part cost to bear.