Update.

I tried unplugging the battery with no success. Thanks for the suggestion anyway.

I called the dealer and scheduled a service appointment (earliest was three weeks forward).

Left the car on a Thursday. The dealer could not get to the car that day. Received a Camry as a loaner.

Friday they diagnosed the problem. The steering angle sensor needed to be replaced. I ok'd the work and the dealer later called stating they could not finish the work that day. They kept the car over the weekend (even though the do offer weekend service).

Today (Monday) I got my X back. Fixed and $640 lighter in the pocket.