2016 Edge was fine when I drove downtown, about a mile, and when I started it to come home, it was very hard to steer and had a check steering light on.
I’d suggest you do what that light is advising you to do and have a mechanic check the steering. Being able to steer is not optional.
Do you live in a cold state where road salt is used? There are 2 different recalls on that vehicle for the power steering assist if it was made at a certain manufacturing plant.