Steering wheel isn't engaging wheel with burnt smell

[jc1surf]

Thanks in advance. I've tried looking through any related threads before posting but haven't had any luck. Any help is much appreciated.
2011 35D 123600 miles. Control module replaced at 122k miles, shocks strut and mounts replaced around 121k, no other repairs done as of yet. CEL for cyl 6 glow plug and EGR/carbon build up 60% checked 2 wks ago. No warning on CBC for trans, ABS or power steering. PS fluid is at correct level no leaks. No vibrations or whining noise while driving/stop/acceleration.
As I tried parking into the garage, the car moved forward about 2 yards then steering wheel turning right "locked up" wouldn't/couldn't turn steering to center. Then i noticed some burnt smell very little smoke. Shut the engine off immediately. waited 2 minutes, restarted car, steering wheel released i tried reversing it and it locked up again. Shut off engine and then able to get the car in the garage. No fluids on the floor or catch pan from top view. Again this morning, starting engine with burnt smell coming from engine bay slight smoke while in Park and engine on, steering wheel locked up turning right (both wheels still straight) but no issues turning left. driveshaft? rack and pinion? or something worse?
Since it's sunday, most bmw indies aren't open. Will most likely have to get towed? Thanks again.