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Make sure you check the power steering fluid and your air in your tires. for your steering. You could also have a problem with the steering rack check all the bolts on the front end and suspension for tightness this could be causing the jerkiness. The light you are seeing on the dash is the hill descent control light. Push the switch in the car with the same symbol on it to see if the light goes out. Check your brake lights to see if they work if they dont replace the brake light switch. There is a recall for this switch replacement at the dealer if you havent had it done already. If your brake lights work you will have to have the fault codes read in the system to determine where to start with the diagnosis of the problem.