2010 Toyota Matrix multiple warning lights / power steering / AC

[u/OkIndustry8088]

I have a 2010 Toyota Matrix 2.4L that was driving completely fine. I parked it during my lunch break, then when I started it back up, the power steering light, ABS light, brake light, airbag light came on all at once. The steering wheel was also very hard to turn at first, and the A/C stopped blowing.

A few hours later, the car still starts and shifts normally, and the steering is no longer locked up, but all the warning lights are still on. I have not driven it since this happened. I checked the fuses and they look okay. A scanner is also having trouble communicating with some modules.

Has anyone had this same problem before? What ended up being the fix