Not familiar with a "power steering" warning.
I think this is similar to a oil pressure light coming on. What you are seeing is that the car is trying to stall, so the loss of power causes the power steering pump pressure to drop, and thus the warning.
Need to understand the underlying issues:
(1) Since you start with a power steering warning, must ask, are you making a short turn when this occurs?
(2) If not turning, then need to understand what you are doing when car tries to stall: Driving at highway speeds, idle, car hot/cold?
Could be a CPU problem, less likely a transmission problem, but on a 2005, should be getting a check engine light.
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