These vehicles have electric power steering. There is an electric motor under the steering column that provides the power steering assist. GM also had a special policy coverage on this motor as it has been notorious for causing the problems you are describing. Read on:
Some customers of 2004-2007 model year Saturn ION vehicles, equipped
with electric power steering, may experience a sudden loss of power
steering assist, which could occur at any time while driving the
vehicle. If the power steering assist is lost, a
chime will be heard and the Message Center will display a "PWR STR"
warning message. The vehicle can still be steered in a safe manner but
will require greater driver effort at low vehicle speeds or when
stopped. Typically, the next time the vehicle is started,
the power steering assist will return and the "PWR STR" message would no
longer be displayed..................
This special coverage covers the condition described above for a
period of 10 years or 100,000 miles (160,000 km), whichever occurs
first, from the date the vehicle was originally placed in service,
regardless of ownership.
Retailers are to replace the power steering motor. The repairs will be made at no charge to the customer.
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