I had the same exact problem after playing in some deep mud. Couldn't turn, it would chirp, and all of a sudden a "thunk" like something broke loose in the front. Took it straight home, pressure washed out all the mud and voila, no more problems, which leads me to believe it was a sensor problem. I had no lights, TOD was fine.
My thought was that it was ABS. I didn't check for codes. But fortunately mine went away, and no problems since. I hope it works out for you. Keep us posted.