this is usually a power steering issue. Start by checking fluid levels, top off fluids and turn the wheel fully left and right about 5 times with the engine off, and then 15 times left and right with the engine on. This is how mercedes recommends to fully pressurize the system

if you have other errors like ABS errors/wheel speed sensors, it can sometimes disable the power steering along with ESP and BAS (braking assist) and its an issue I’m dealing with right now