05 Odyssey steering issue

I’m having a problem with my 05 Odyseey. Occassionally (not every time), when I am driving over 60 mph and turn the wheel (for example, merging from one freeway onto another), the steering column starts grinding and steering becomes very difficult. The Vehiclde Stability Light also comes on As soon as this happens, it does it on every turn (even slow ones). However, if I turn the car off and restart it, the problem disappears. The dealership cannot figure out the problem

There may be a fault with the power steering rack causing the difficult steering resulting in the computer to flash the VSL.

Another possibility is a problem with the power steering pump/belt. IF the power steering fluid was low you should have a warning light show.