Update- I was driving to work and the warning light appeared once again. This time I called the dealer and they said to drive over and to not shut the car off. They hooked the SDS to the car and a code indicating the Steering Angle Sensor is faulty. The strange thing is that when we shut the car off and restarted it....the code was stored. I hate when "black magic" is needed to fix my car. Anyway, the part is ordered and by Friday it should all be fixed.