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2009 Jetta steering and ESP/ASR fault code help please!

I have a 2009 Jetta. When I turned my car on this morning the Steering fault code was on as red solid: Power steering assist failure and the ESP/ASR fault code was on solid yellow. I could not turn the steering wheel. When I turned the car off and back on the steering fault code was off completely. I started driving and the ESP/ASR fault code went off within 1-2 minutes and both stayed off for the length of my trip (15 minutes). Any ideas? Is this something I should get checked out even if the lights stay off? Thank you in advance!
 
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