Driving on interstate at 70mph while it was raining. Signaled and changed lanes. Steering wheel started jerking left and right and the power steering light flickered on and off. The steering wheel stopped jerking and the power steering light remained on. I no longer had power steering and car was difficult to control. The emergency braking assist light came on as well. Was able to get off the interstate. Turned the car off and on. Power steering light remained on. Turned car off. Waited 5 minutes. Turned car on. Power steering light was off but the power steering still did not work. I slowly and carefully drove home, which was nearby. About 2 miles into the drive, power steering returned. It felt like it partially returned at first and then fully returned after several minutes.